+ python -m lidar_slam --no-model /working/9728eb7f-2b66-49fc-a60f-784f8e062227 Lidar SLAM 0.0.6 ===================================================== The recording path: /working/9728eb7f-2b66-49fc-a60f-784f8e062227 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.004391418 Adjusted end_distance from 9.223372036854776e+18 to 378.224391418 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004391418 meters 0.08782805367874405 Centerline is valid? [0, True] SLAMing on 0.06439141799999999 meters 0.10304983675752567 Centerline is valid? [True, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99993470e-01 3.60743013e-03 -2.13315685e-04 -1.42684386e-04] [-3.60688236e-03 9.99990333e-01 2.51476531e-03 4.59231524e-03] [ 2.22385463e-04 -2.51397948e-03 9.99996815e-01 9.23612570e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12439141799999998 meters 0.11132096254235621 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99997071e-01 2.38791363e-03 -3.95641171e-04 -6.37865519e-04] [-2.38801101e-03 9.99997118e-01 -2.45828592e-04 1.11552239e-02] [ 3.95053013e-04 2.46772668e-04 9.99999892e-01 2.24797819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18439141799999997 meters 0.11854386715405875 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.00 [[ 9.99996176e-01 2.55091912e-03 -1.06824867e-03 1.91699048e-03] [-2.55223499e-03 9.99995984e-01 -1.23225654e-03 1.57847977e-02] [ 1.06510100e-03 1.23497825e-03 9.99998670e-01 1.08945692e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24439141799999997 meters 0.12482139507231015 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 0.99999466 0.00283761 -0.00162384 0.00406632] [-0.00284023 0.99999466 -0.00161727 0.01896455] [ 0.00161924 0.00162188 0.99999737 -0.00146225] [ 0. 0. 0. 1. ]] SLAMing on 0.3043914179999999 meters 0.13094833853485952 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 0.99999557 0.00228978 -0.00189927 0.00450281] [-0.00229553 0.99999276 -0.00303398 0.02310961] [ 0.00189231 0.00303832 0.99999359 -0.00129898] [ 0. 0. 0. 1. ]] SLAMing on 0.3643914179999999 meters 0.1342580656346859 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 0.99999536 0.00240345 -0.00187008 0.00456741] [-0.0024086 0.9999933 -0.00275516 0.02243641] [ 0.00186345 0.00275965 0.99999446 -0.00145609] [ 0. 0. 0. 1. ]] SLAMing on 0.4243914179999999 meters 0.14617068253404708 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 0.99999473 0.00255996 -0.00199826 0.00451464] [-0.0025643 0.99999435 -0.00217378 0.02103471] [ 0.00199269 0.00217889 0.99999564 -0.00102201] [ 0. 0. 0. 1. ]] SLAMing on 0.4843914179999999 meters 0.14979280034429063 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99995502e-01 2.21448226e-03 -2.02305016e-03 3.92461562e-03] [-2.21985158e-03 9.99994010e-01 -2.65569589e-03 2.19816159e-02] [ 2.01715705e-03 2.66017481e-03 9.99994427e-01 -4.93255093e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5443914179999999 meters 0.1527032548363934 Centerline is valid? [False, False] Translation: X:0.00, Y:0.03, Z:0.00 [[ 9.99993376e-01 3.07702528e-03 -1.94429369e-03 3.74720368e-03] [-3.08232795e-03 9.99991523e-01 -2.73021179e-03 2.51139568e-02] [ 1.93587628e-03 2.73618666e-03 9.99994383e-01 4.82735316e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6043914179999998 meters 0.15694984289599748 Centerline is valid? [False, False] Translation: X:0.00, Y:0.03, Z:0.00 [[ 9.99977381e-01 6.44717491e-03 -1.91594612e-03 2.52635250e-03] [-6.44776263e-03 9.99979168e-01 -3.00731484e-04 2.96374601e-02] [ 1.91396733e-03 3.13078248e-04 9.99998119e-01 2.36342126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6643914179999999 meters 0.1586195062614432 Centerline is valid? [False, False] Translation: X:0.00, Y:0.03, Z:0.00 [[ 0.99997908 0.00611166 -0.0021193 0.00310293] [-0.00611386 0.99998078 -0.00103309 0.03170968] [ 0.00211295 0.00104602 0.99999722 0.00214707] [ 0. 0. 0. 1. ]] SLAMing on 0.7243914179999998 meters 0.18055632836444127 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.01 [[ 9.99997868e-01 1.97556536e-03 6.00868707e-04 4.57756974e-02] [-1.97997587e-03 9.99970434e-01 7.43040867e-03 3.31396094e-02] [-5.86171684e-04 -7.43158253e-03 9.99972214e-01 -6.75493672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7843914179999999 meters 0.16709012716186286 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:0.00 [[ 0.99999528 -0.0027038 -0.00145643 -0.00941508] [ 0.00269463 0.99997674 -0.00626627 0.03654905] [ 0.00147334 0.00626232 0.99997931 0.00327802] [ 0. 0. 0. 1. ]] SLAMing on 0.8443914179999998 meters 0.18660698083268293 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.00 [[ 9.99948610e-01 -9.57818722e-03 3.32197710e-03 6.34172898e-02] [ 9.57796483e-03 9.99954127e-01 8.28465085e-05 3.98243001e-02] [-3.32261823e-03 -5.10244712e-05 9.99994479e-01 -3.11764200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9043914179999999 meters 0.18009206359864657 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:0.00 [[ 0.99993878 -0.01063748 -0.00304676 0.04589235] [ 0.01061553 0.99991821 -0.00713274 0.04005422] [ 0.00312238 0.00709996 0.99996992 0.00210857] [ 0. 0. 0. 1. ]] SLAMing on 0.9643914179999998 meters 0.17167349479009072 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.00 [[ 9.99963883e-01 -8.48702226e-03 4.50813934e-04 1.97372569e-02] [ 8.48954383e-03 9.99946429e-01 -5.92176270e-03 3.71510588e-02] [-4.00531652e-04 5.92537603e-03 9.99982365e-01 3.12588994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0243914179999998 meters 0.1583648687062781 Centerline is valid? [False, False] Translation: X:0.00, Y:0.04, Z:0.01 [[ 0.99998337 -0.00382113 -0.00432029 0.00196941] [ 0.00377785 0.99994305 -0.00998082 0.04126096] [ 0.00435818 0.00996433 0.99994086 0.00762818] [ 0. 0. 0. 1. ]] SLAMing on 1.0843914179999998 meters 0.15508901302352873 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:0.01 [[ 0.99998222 0.00421757 -0.00421518 0.00164461] [-0.00422966 0.99998696 -0.00286252 0.04503027] [ 0.00420305 0.00288029 0.99998702 0.00783265] [ 0. 0. 0. 1. ]] SLAMing on 1.1443914179999999 meters 0.14817945391415052 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:0.01 [[ 9.99955945e-01 8.28621627e-03 -4.40984023e-03 1.94450106e-03] [-8.28678434e-03 9.99965658e-01 -1.10562072e-04 4.95814016e-02] [ 4.40877264e-03 1.47100596e-04 9.99990270e-01 7.87406916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2043914179999997 meters 0.1440847196502376 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:0.01 [[ 0.99995897 0.00779808 -0.00460927 0.00164829] [-0.00780665 0.99996782 -0.00184533 0.05407747] [ 0.00459473 0.00188124 0.99998767 0.008845 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2643914179999998 meters 0.1413886918402192 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:0.01 [[ 9.99981236e-01 1.50653776e-04 -6.12407402e-03 7.37047093e-03] [-1.24674171e-04 9.99990993e-01 4.24236987e-03 5.15998123e-02] [ 6.12465799e-03 -4.24152675e-03 9.99972249e-01 1.27672227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3243914179999998 meters 0.13658425892531065 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:0.01 [[ 9.99970280e-01 -4.05762141e-03 -6.55556210e-03 9.12164893e-03] [ 4.05642294e-03 9.99991753e-01 -1.96102208e-04 5.34225666e-02] [ 6.55630375e-03 1.69504247e-04 9.99978493e-01 1.14939596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3843914179999999 meters 0.12872456963738435 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:0.01 [[ 9.99968549e-01 -4.56451619e-03 -6.48591737e-03 8.73475109e-03] [ 4.56287658e-03 9.99989554e-01 -2.67571227e-04 5.27065331e-02] [ 6.48707096e-03 2.37968371e-04 9.99978930e-01 1.18770232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4443914179999997 meters 0.14278003650658605 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:0.00 [[ 9.99998485e-01 -1.71550643e-03 -2.96064183e-04 4.14911940e-02] [ 1.71668835e-03 9.99990369e-01 4.03914337e-03 4.97579963e-02] [ 2.89132155e-04 -4.03964550e-03 9.99991799e-01 1.96692885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5043914179999998 meters 0.14246353586141286 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:0.00 [[ 0.9999937 -0.00157701 -0.00318144 0.0666828 ] [ 0.00158928 0.99999129 0.00385823 0.05642106] [ 0.00317533 -0.00386326 0.9999875 0.00446228] [ 0. 0. 0. 1. ]] SLAMing on 1.5643914179999998 meters 0.15014668854631236 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.00 [[ 9.99995394e-01 1.32087116e-03 2.73247516e-03 9.93863544e-02] [-1.32874946e-03 9.99994960e-01 2.88340564e-03 6.21061497e-02] [-2.72865278e-03 -2.88702313e-03 9.99992110e-01 7.94998787e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6243914179999996 meters 0.15022545072787674 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:0.00 [[ 9.99999195e-01 9.36918797e-04 -8.55429308e-04 1.23974127e-01] [-9.34211654e-04 9.99994572e-01 3.15959363e-03 6.87367801e-02] [ 8.58384947e-04 -3.15879194e-03 9.99994643e-01 2.09679246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6843914179999997 meters 0.10418932176902607 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:0.01 [[ 9.99998686e-01 3.86379337e-04 -1.57451983e-03 8.11134531e-02] [-4.05044127e-04 9.99929452e-01 -1.18712479e-02 7.44279577e-02] [ 1.56982195e-03 1.18718701e-02 9.99928295e-01 1.24373585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7443914179999997 meters 0.09439893960022318 Centerline is valid? [False, True] Translation: X:0.08, Y:0.07, Z:0.01 [[ 0.99999343 0.00346714 -0.00106119 0.07920534] [-0.0034761 0.99995732 -0.00856046 0.07473155] [ 0.00103147 0.0085641 0.9999628 0.01408765] [ 0. 0. 0. 1. ]] SLAMing on 1.8043914179999998 meters 0.09441206782533153 Centerline is valid? [True, True] Translation: X:0.14, Y:0.08, Z:0.01 [[ 9.99993684e-01 -1.82116938e-03 -3.05215939e-03 1.38423896e-01] [ 1.82047302e-03 9.99998316e-01 -2.30916893e-04 7.62739401e-02] [ 3.05257479e-03 2.25359061e-04 9.99995315e-01 8.74805489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8643914179999996 meters 0.08324825200586497 Centerline is valid? [True, True] Translation: X:0.20, Y:0.07, Z:0.01 [[ 9.99985892e-01 -4.56602960e-03 -2.71426145e-03 1.98827175e-01] [ 4.56548881e-03 9.99989557e-01 -2.05403171e-04 7.43382042e-02] [ 2.71517099e-03 1.93008343e-04 9.99996295e-01 9.31327122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9243914179999997 meters 0.07476388082283765 Centerline is valid? [True, True] Translation: X:0.26, Y:0.08, Z:0.01 [[ 9.99963892e-01 -7.41694975e-03 -4.14769156e-03 2.58963329e-01] [ 7.41571405e-03 9.99972454e-01 -3.13226109e-04 7.99510213e-02] [ 4.14990049e-03 2.82456705e-04 9.99991349e-01 7.55701870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9843914179999997 meters 0.077981881217759 Centerline is valid? [True, True] Translation: X:0.32, Y:0.09, Z:0.01 [[ 9.99969025e-01 -5.00579221e-03 -6.07373642e-03 3.19400515e-01] [ 5.00310136e-03 9.99987379e-01 -4.58144147e-04 9.00296781e-02] [ 6.07595314e-03 4.27742437e-04 9.99981450e-01 9.03148151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0443914179999996 meters 0.07861968507636413 Centerline is valid? [True, True] Translation: X:0.38, Y:0.10, Z:0.01 [[ 9.99963989e-01 -2.82387999e-03 -8.00290499e-03 3.77304506e-01] [ 2.81912534e-03 9.99995843e-01 -6.05333958e-04 1.03601919e-01] [ 8.00458111e-03 5.82750967e-04 9.99967793e-01 5.01875011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1043914179999996 meters 0.0662867798734432 Centerline is valid? [True, True] Translation: X:0.44, Y:0.10, Z:0.01 [[ 9.99939612e-01 -3.82462203e-03 -1.03026255e-02 4.37057612e-01] [ 3.81671521e-03 9.99992407e-01 -7.87009399e-04 9.79175543e-02] [ 1.03055573e-02 7.47639686e-04 9.99946617e-01 5.44230626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1643914179999997 meters 0.06524613028036821 Centerline is valid? [True, True] Translation: X:0.49, Y:0.11, Z:-0.00 [[ 9.99886306e-01 -6.80017134e-03 -1.34585748e-02 4.94124668e-01] [ 6.78700589e-03 9.99976444e-01 -1.02365274e-03 1.08982098e-01] [ 1.34652188e-02 9.32192932e-04 9.99908905e-01 -9.04588983e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2243914179999997 meters 0.05530769668920489 Centerline is valid? [True, True] Translation: X:0.55, Y:0.11, Z:0.00 [[ 9.99890950e-01 -7.83710272e-03 -1.25167354e-02 5.53033298e-01] [ 7.82578792e-03 9.99968924e-01 -9.52697361e-04 1.06449033e-01] [ 1.25238128e-02 8.54640153e-04 9.99921209e-01 2.68201242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284391418 meters 0.05434874783545951 Centerline is valid? [True, True] Translation: X:0.61, Y:0.11, Z:0.01 [[ 9.99878230e-01 -1.29049092e-02 -8.77428370e-03 6.13370791e-01] [ 1.28995501e-02 9.99916575e-01 -6.67092917e-04 1.07256048e-01] [ 8.78216048e-03 5.53827372e-04 9.99961283e-01 8.06804499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344391418 meters 0.046031889490973664 Centerline is valid? [True, True] Translation: X:0.67, Y:0.11, Z:0.01 [[ 9.99850786e-01 -1.68331755e-02 -3.87934419e-03 6.74181603e-01] [ 1.68321579e-02 9.99858286e-01 -2.94830889e-04 1.07714594e-01] [ 3.88375737e-03 2.29489162e-04 9.99992432e-01 9.91124092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4043914179999994 meters 0.0456119706336414 Centerline is valid? [True, True] Translation: X:0.73, Y:0.11, Z:0.01 [[ 9.99752953e-01 -2.20494872e-02 -2.80236256e-03 7.34444595e-01] [ 2.20489767e-02 9.99756869e-01 -2.12934727e-04 1.09552127e-01] [ 2.80637632e-03 1.51092895e-04 9.99996051e-01 9.14533083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4643914179999995 meters 0.044712338208662813 Centerline is valid? [True, True] Translation: X:0.79, Y:0.11, Z:0.00 [[ 9.99663743e-01 -2.57537693e-02 -3.02384124e-03 7.94230556e-01] [ 2.57531917e-02 9.99668305e-01 -2.29792541e-04 1.13248352e-01] [ 3.02875627e-03 1.51841708e-04 9.99995402e-01 4.29703966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5243914179999996 meters 0.041548800864350414 Centerline is valid? [True, True] Translation: X:0.86, Y:0.12, Z:0.00 [[ 9.99688120e-01 -2.47035812e-02 -3.66008469e-03 8.55909427e-01] [ 2.47027352e-02 9.99694803e-01 -2.76182808e-04 1.18569432e-01] [ 3.66579034e-03 1.85682569e-04 9.99993264e-01 1.23238790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5843914179999996 meters 0.045677553919867595 Centerline is valid? [True, True] Translation: X:0.91, Y:0.13, Z:-0.00 [[ 9.99807812e-01 -1.88428090e-02 -5.41186008e-03 9.14429393e-01] [ 1.88408579e-02 9.99822411e-01 -4.11286193e-04 1.33439730e-01] [ 5.41864877e-03 3.09243062e-04 9.99985271e-01 -2.67054850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6443914179999997 meters 0.044989339170209024 Centerline is valid? [True, True] Translation: X:0.98, Y:0.14, Z:-0.00 [[ 9.99916452e-01 -1.28807371e-02 -1.08425486e-03 9.75082756e-01] [ 1.28806559e-02 9.99917038e-01 -8.18716993e-05 1.42244599e-01] [ 1.08521948e-03 6.78989453e-05 9.99999409e-01 -3.28261806e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7043914179999997 meters 0.04499869218529213 Centerline is valid? [True, True] Translation: X:1.04, Y:0.15, Z:0.00 [[ 9.99923217e-01 -1.20824492e-02 2.75205410e-03 1.03735808e+00] [ 1.20819148e-02 9.99926989e-01 2.10718131e-04 1.50687645e-01] [-2.75439916e-03 -1.77451868e-04 9.99996191e-01 1.95333943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7643914179999998 meters 0.044072111268021685 Centerline is valid? [True, True] Translation: X:1.10, Y:0.16, Z:0.00 [[ 9.99873438e-01 -1.48103464e-02 5.81046574e-03 1.09836023e+00] [ 1.48080337e-02 9.99890258e-01 4.40843127e-04 1.56419593e-01] [-5.81635713e-03 -3.54745761e-04 9.99983022e-01 2.45348726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8243914179999994 meters 0.04397338242804915 Centerline is valid? [True, True] Translation: X:1.16, Y:0.16, Z:-0.00 [[ 9.99839482e-01 -1.70081537e-02 5.63312288e-03 1.15938919e+00] [ 1.70060136e-02 9.99855296e-01 4.27595972e-04 1.58958492e-01] [-5.63958037e-03 -3.31730371e-04 9.99984042e-01 -7.66527775e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8843914179999994 meters 0.045065274583878906 Centerline is valid? [True, True] Translation: X:1.22, Y:0.16, Z:-0.00 [[ 9.99840675e-01 -1.74114184e-02 3.93288247e-03 1.22134584e+00] [ 1.74103742e-02 9.99848383e-01 2.99601989e-04 1.63660570e-01] [-3.93750267e-03 -2.31081300e-04 9.99992221e-01 -4.84104692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9443914179999995 meters 0.047255766226868993 Centerline is valid? [True, True] Translation: X:1.28, Y:0.17, Z:-0.01 [[ 9.99876504e-01 -1.49866502e-02 4.73041736e-03 1.28167531e+00] [ 1.49851223e-02 9.99887653e-01 3.58273870e-04 1.70764300e-01] [-4.73525523e-03 -2.87343742e-04 9.99988747e-01 -6.00305008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0043914179999995 meters 0.05036011521533233 Centerline is valid? [True, True] Translation: X:1.34, Y:0.18, Z:-0.01 [[ 9.99916645e-01 -1.16078268e-02 5.65349801e-03 1.34112114e+00] [ 1.16055932e-02 9.99932561e-01 4.27723647e-04 1.77092014e-01] [-5.65808168e-03 -3.62075796e-04 9.99983927e-01 -5.84003461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0643914179999996 meters 0.05128763744728111 Centerline is valid? [True, True] Translation: X:1.40, Y:0.18, Z:-0.00 [[ 9.99906491e-01 -1.09065309e-02 8.24965771e-03 1.40448410e+00] [ 1.09017393e-02 9.99940379e-01 6.25566193e-04 1.81728821e-01] [-8.25598861e-03 -5.35572080e-04 9.99965775e-01 -4.51059647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1243914179999996 meters 0.051680935883806456 Centerline is valid? [True, True] Translation: X:1.47, Y:0.18, Z:-0.00 [[ 9.99885409e-01 -1.14262266e-02 9.93030638e-03 1.46730080e+00] [ 1.14193263e-02 9.99934515e-01 7.51288429e-04 1.83927345e-01] [-9.93824048e-03 -6.37804928e-04 9.99950411e-01 -4.71398154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1843914179999997 meters 0.050512409255948895 Centerline is valid? [True, True] Translation: X:1.53, Y:0.18, Z:-0.01 [[ 9.99843406e-01 -1.34453080e-02 1.15059354e-02 1.52920667e+00] [ 1.34361963e-02 9.99909353e-01 8.68857130e-04 1.82943332e-01] [-1.15165745e-02 -7.14125066e-04 9.99933427e-01 -5.56593582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2443914179999993 meters 0.047393226125554605 Centerline is valid? [True, True] Translation: X:1.59, Y:0.18, Z:-0.01 [[ 9.99718768e-01 -2.03338095e-02 1.22033548e-02 1.58929010e+00] [ 2.03240877e-02 9.99793021e-01 9.20153387e-04 1.78219658e-01] [-1.22195392e-02 -6.71872558e-04 9.99925113e-01 -5.81061779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3043914179999994 meters 0.044658932317152 Centerline is valid? [True, True] Translation: X:1.65, Y:0.17, Z:-0.01 [[ 9.99609691e-01 -2.57063207e-02 1.09385262e-02 1.64982186e+00] [ 2.56988264e-02 9.99669390e-01 8.25160314e-04 1.74741927e-01] [-1.09561216e-02 -5.43730961e-04 9.99939832e-01 -1.00880235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3643914179999994 meters 0.03884087988100782 Centerline is valid? [True, True] Translation: X:1.71, Y:0.16, Z:-0.01 [[ 9.99329142e-01 -3.55304262e-02 8.88000173e-03 1.71164755e+00] [ 3.55258725e-02 9.99368532e-01 6.70056639e-04 1.64985124e-01] [-8.89820170e-03 -3.54137316e-04 9.99960348e-01 -1.46837277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4243914179999995 meters 0.03480409995208457 Centerline is valid? [True, True] Translation: X:1.77, Y:0.16, Z:-0.02 [[ 9.99020331e-01 -4.30288342e-02 1.03391741e-02 1.77289455e+00] [ 4.30230662e-02 9.99073775e-01 7.79755796e-04 1.57660674e-01] [-1.03631496e-02 -3.34168923e-04 9.99946245e-01 -1.61048380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4843914179999995 meters 0.025553894975284194 Centerline is valid? [True, True] Translation: X:1.84, Y:0.15, Z:-0.01 [[ 9.98811612e-01 -4.72127781e-02 1.20961505e-02 1.83566204e+00] [ 4.72051827e-02 9.98884797e-01 9.12815313e-04 1.48088028e-01] [-1.21257574e-02 -3.40729540e-04 9.99926422e-01 -1.16520222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5443914179999996 meters 0.027066654206942112 Centerline is valid? [True, True] Translation: X:1.90, Y:0.15, Z:-0.01 [[ 9.98835180e-01 -4.54295016e-02 1.62617155e-02 1.89895130e+00] [ 4.54155371e-02 9.98967428e-01 1.22718713e-03 1.54069817e-01] [-1.63006746e-02 -4.87223136e-04 9.99867016e-01 -1.02530982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043914179999996 meters 0.02879776057809444 Centerline is valid? [True, True] Translation: X:1.96, Y:0.16, Z:-0.01 [[ 9.98972085e-01 -4.22235111e-02 1.64908499e-02 1.95977900e+00] [ 4.22088009e-02 9.99108043e-01 1.23921403e-03 1.62712763e-01] [-1.65284647e-02 -5.41881223e-04 9.99863249e-01 -1.15923205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6643914179999992 meters 0.03078107200143436 Centerline is valid? [True, True] Translation: X:2.02, Y:0.17, Z:-0.01 [[ 9.99109784e-01 -3.88955942e-02 1.63331727e-02 2.02176504e+00] [ 3.88807967e-02 9.99243108e-01 1.22266724e-03 1.70058244e-01] [-1.63683667e-02 -5.86532038e-04 9.99865857e-01 -1.43898324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7243914179999993 meters 0.03726503936498535 Centerline is valid? [True, True] Translation: X:2.08, Y:0.19, Z:-0.02 [[ 9.99445066e-01 -2.92890257e-02 1.58654500e-02 2.08065884e+00] [ 2.92738717e-02 9.99570724e-01 1.18660684e-03 1.86740683e-01] [-1.58933939e-02 -7.21505206e-04 9.99873432e-01 -1.54620159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7843914179999993 meters 0.04682605380007284 Centerline is valid? [True, True] Translation: X:2.14, Y:0.21, Z:-0.02 [[ 9.99758251e-01 -1.54269598e-02 1.56667977e-02 2.13903153e+00] [ 1.54105091e-02 9.99880566e-01 1.17022215e-03 2.07922871e-01] [-1.56829796e-02 -9.28505916e-04 9.99876583e-01 -1.70791934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8443914179999994 meters 0.057673389295812255 Centerline is valid? [True, True] Translation: X:2.20, Y:0.23, Z:-0.02 [[ 9.99837017e-01 -1.21396573e-03 1.80129312e-02 2.19675747e+00] [ 1.18993306e-03 9.99998388e-01 1.34484757e-03 2.29767333e-01] [-1.80145348e-02 -1.32319420e-03 9.99836850e-01 -1.65940876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9043914179999994 meters 0.06360684332704017 Centerline is valid? [True, True] Translation: X:2.26, Y:0.24, Z:-0.02 [[ 9.99795979e-01 6.92348432e-03 1.89753888e-02 2.25641584e+00] [-6.95159750e-03 9.99974835e-01 1.41599933e-03 2.43331480e-01] [-1.89651076e-02 -1.54761970e-03 9.99818948e-01 -1.68029073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9643914179999995 meters 0.07233480239350229 Centerline is valid? [True, True] Translation: X:2.31, Y:0.26, Z:-0.01 [[ 9.99672827e-01 1.51438061e-02 2.06132196e-02 2.31478711e+00] [-1.51787143e-02 9.99883614e-01 1.53807356e-03 2.59214832e-01] [-2.05875282e-02 -1.85045251e-03 9.99786342e-01 -1.44413203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0243914179999996 meters 0.07913882191134379 Centerline is valid? [True, True] Translation: X:2.37, Y:0.27, Z:-0.02 [[ 9.99546866e-01 1.96441469e-02 2.28072467e-02 2.37350911e+00] [-1.96880546e-02 9.99804722e-01 1.70219862e-03 2.67229279e-01] [-2.27693547e-02 -2.15045762e-03 9.99738432e-01 -1.58987929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084391417999999 meters 0.05203850452863503 Centerline is valid? [True, True] Translation: X:2.44, Y:0.23, Z:-0.02 [[ 9.99539531e-01 2.06102551e-02 2.22697957e-02 2.43899026e+00] [-2.06523636e-02 9.99785335e-01 1.66247903e-03 2.31030940e-01] [-2.22307511e-02 -2.12163743e-03 9.99750615e-01 -1.94704730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144391418 meters 0.04668930410500154 Centerline is valid? [True, True] Translation: X:2.50, Y:0.22, Z:-0.02 [[ 9.99537739e-01 1.94219685e-02 2.33900696e-02 2.50119867e+00] [-1.94679509e-02 9.99808968e-01 1.73977222e-03 2.19562278e-01] [-2.33518115e-02 -2.19432472e-03 9.99724901e-01 -1.99532014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204391417999999 meters 0.04840633738487724 Centerline is valid? [True, True] Translation: X:2.56, Y:0.22, Z:-0.02 [[ 9.99512297e-01 2.01037745e-02 2.38957606e-02 2.56419538e+00] [-2.01519261e-02 9.99795352e-01 1.77594670e-03 2.15791609e-01] [-2.38551671e-02 -2.25662617e-03 9.99712878e-01 -1.93975022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264391418 meters 0.0645998218655756 Centerline is valid? [True, True] Translation: X:2.62, Y:0.23, Z:-0.02 [[ 9.99465416e-01 2.20889433e-02 2.41031226e-02 2.62367934e+00] [-2.21383560e-02 9.99753323e-01 1.78511235e-03 2.34108799e-01] [-2.40577457e-02 -2.31776157e-03 9.99707884e-01 -2.01208041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324391417999999 meters 0.06519150716154282 Centerline is valid? [True, True] Translation: X:2.69, Y:0.23, Z:-0.02 [[ 9.99423681e-01 2.46984813e-02 2.32871344e-02 2.68582700e+00] [-2.47452824e-02 9.99692303e-01 1.72368277e-03 2.25480098e-01] [-2.32373966e-02 -2.29893609e-03 9.99727332e-01 -2.35554265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384391417999999 meters 0.0677666721621126 Centerline is valid? [True, True] Translation: X:2.75, Y:0.22, Z:-0.03 [[ 9.99338282e-01 2.80421331e-02 2.31654430e-02 2.74684711e+00] [-2.80893123e-02 9.99603948e-01 1.71367609e-03 2.15795380e-01] [-2.31082131e-02 -2.36324348e-03 9.99730176e-01 -2.73237891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4443914179999995 meters 0.0689897723925561 Centerline is valid? [True, True] Translation: X:2.81, Y:0.21, Z:-0.03 [[ 9.99296753e-01 3.04585474e-02 2.18695202e-02 2.80793650e+00] [-3.05011647e-02 9.99533422e-01 1.61772163e-03 2.12641553e-01] [-2.18100430e-02 -2.28362981e-03 9.99759525e-01 -2.89891253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504391417999999 meters 0.07162489222656383 Centerline is valid? [True, True] Translation: X:2.87, Y:0.20, Z:-0.03 [[ 9.99221588e-01 3.29249960e-02 2.17293266e-02 2.86895139e+00] [-3.29676341e-02 9.99455128e-01 1.60684141e-03 2.04806761e-01] [-2.16645816e-02 -2.32195511e-03 9.99762599e-01 -3.01728652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564391418 meters 0.0735831119795591 Centerline is valid? [True, True] Translation: X:2.93, Y:0.19, Z:-0.03 [[ 9.99294677e-01 3.01085475e-02 2.24415465e-02 2.92923515e+00] [-3.01533370e-02 9.99543906e-01 1.66004397e-03 1.91038894e-01] [-2.23813296e-02 -2.33556062e-03 9.99746779e-01 -3.40641458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624391417999999 meters 0.07838723055458104 Centerline is valid? [True, True] Translation: X:2.99, Y:0.19, Z:-0.03 [[ 9.99343100e-01 2.78687952e-02 2.31667501e-02 2.98909837e+00] [-2.79159452e-02 9.99608804e-01 1.71427833e-03 1.89600345e-01] [-2.31099125e-02 -2.35987395e-03 9.99730145e-01 -3.48596631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684391418 meters 0.08140876723549076 Centerline is valid? [True, True] Translation: X:3.05, Y:0.18, Z:-0.04 [[ 9.99305808e-01 2.84697257e-02 2.40286656e-02 3.05104139e+00] [-2.85206091e-02 9.99591624e-01 1.77749815e-03 1.80649040e-01] [-2.39682480e-02 -2.46157640e-03 9.99709690e-01 -3.63151810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744391417999999 meters 0.07262591438209683 Centerline is valid? [True, True] Translation: X:3.11, Y:0.16, Z:-0.04 [[ 9.99254431e-01 3.15146025e-02 2.23027465e-02 3.11415008e+00] [-3.15590620e-02 9.99500536e-01 1.64421127e-03 1.55562327e-01] [-2.22397904e-02 -2.34683915e-03 9.99749911e-01 -3.90287271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804391417999999 meters 0.08038549324357223 Centerline is valid? [True, True] Translation: X:3.17, Y:0.16, Z:-0.04 [[ 9.99203517e-01 3.30023540e-02 2.24315736e-02 3.17400914e+00] [-3.30476847e-02 9.99452409e-01 1.65305265e-03 1.58751557e-01] [-2.23647356e-02 -2.39304759e-03 9.99747014e-01 -3.80981429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864391417999999 meters 0.0732103391300555 Centerline is valid? [True, True] Translation: X:3.24, Y:0.14, Z:-0.04 [[ 9.99190921e-01 3.17888503e-02 2.46368005e-02 3.23735253e+00] [-3.18431674e-02 9.99491229e-01 1.81544311e-03 1.37238303e-01] [-2.45665552e-02 -2.59848804e-03 9.99694820e-01 -3.63211773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924391417999999 meters 0.07236358931961667 Centerline is valid? [True, True] Translation: X:3.30, Y:0.12, Z:-0.04 [[ 9.99449552e-01 2.48934086e-02 2.19297106e-02 3.29807412e+00] [-2.49347797e-02 9.99687775e-01 1.61507634e-03 1.21438983e-01] [-2.18826588e-02 -2.16099983e-03 9.99758210e-01 -4.13918045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9843914179999995 meters 0.0695328687527679 Centerline is valid? [True, True] Translation: X:3.36, Y:0.11, Z:-0.04 [[ 9.99628216e-01 1.87860776e-02 1.97614273e-02 3.35936969e+00] [-1.88184974e-02 9.99821856e-01 1.45586555e-03 1.13411663e-01] [-1.97305569e-02 -1.82720465e-03 9.99803664e-01 -4.29323289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044391417999999 meters 0.06284660722513799 Centerline is valid? [True, True] Translation: X:3.42, Y:0.10, Z:-0.05 [[ 9.99758550e-01 1.24289831e-02 1.81207654e-02 3.42149724e+00] [-1.24551994e-02 9.99921540e-01 1.33461013e-03 1.00518836e-01] [-1.81027558e-02 -1.55998563e-03 9.99834915e-01 -4.84968225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104391418 meters 0.05677770572925752 Centerline is valid? [True, True] Translation: X:3.48, Y:0.09, Z:-0.05 [[ 9.99829573e-01 5.64031025e-03 1.75787466e-02 3.48365783e+00] [-5.66393296e-03 9.99983122e-01 1.29432567e-03 9.01725121e-02] [-1.75711495e-02 -1.39366992e-03 9.99844644e-01 -4.85306596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164391417999999 meters 0.05198175507485691 Centerline is valid? [True, True] Translation: X:3.55, Y:0.08, Z:-0.05 [[ 9.99813965e-01 -2.15434668e-03 1.91675443e-02 3.54600352e+00] [ 2.12769223e-03 9.99996741e-01 1.41088777e-03 7.70925850e-02] [-1.91705214e-02 -1.36984266e-03 9.99815290e-01 -4.92374463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224391417999999 meters 0.050537620386876 Centerline is valid? [True, True] Translation: X:3.61, Y:0.08, Z:-0.05 [[ 9.99822332e-01 -5.09504210e-03 1.81478642e-02 3.60677442e+00] [ 5.07163914e-03 9.99986248e-01 1.33536159e-03 7.60158429e-02] [-1.81544184e-02 -1.24308492e-03 9.99834422e-01 -5.00695870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284391417999999 meters 0.054786347949187096 Centerline is valid? [True, True] Translation: X:3.67, Y:0.08, Z:-0.06 [[ 9.99904078e-01 -2.11685925e-03 1.36877320e-02 3.66649824e+00] [ 2.10326930e-03 9.99997281e-01 1.00717480e-03 8.27200442e-02] [-1.36898268e-02 -9.78289203e-04 9.99905811e-01 -5.77171213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344391417999999 meters 0.05895554320854854 Centerline is valid? [True, True] Translation: X:3.73, Y:0.09, Z:-0.06 [[ 9.99926861e-01 1.08780364e-03 1.20452853e-02 3.72686443e+00] [-1.09856427e-03 9.99999003e-01 8.86767542e-04 9.13494340e-02] [-1.20443087e-02 -8.99935206e-04 9.99927060e-01 -6.10828246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4043914179999994 meters 0.05840129081832809 Centerline is valid? [True, True] Translation: X:3.79, Y:0.10, Z:-0.06 [[ 9.99909184e-01 5.16024990e-03 1.24497165e-02 3.78737632e+00] [-5.17204794e-03 9.99986206e-01 9.15644524e-04 9.74325990e-02] [-1.24448198e-02 -9.79951899e-04 9.99922080e-01 -5.83854853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464391417999999 meters 0.05598928817326368 Centerline is valid? [True, True] Translation: X:3.85, Y:0.10, Z:-0.05 [[ 9.99848703e-01 8.40522934e-03 1.52290213e-02 3.84812931e+00] [-8.42325461e-03 9.99963897e-01 1.11985573e-03 9.97636631e-02] [-1.52190588e-02 -1.24796422e-03 9.99883405e-01 -5.44533739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243914179999996 meters 0.06623940568452737 Centerline is valid? [True, True] Translation: X:3.91, Y:0.12, Z:-0.05 [[ 9.99770095e-01 1.26835759e-02 1.72882411e-02 3.90606819e+00] [-1.27074279e-02 9.99918450e-01 1.27050778e-03 1.18480245e-01] [-1.72707167e-02 -1.48990476e-03 9.99849740e-01 -5.15492779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584391417999999 meters 0.07008128783073549 Centerline is valid? [True, True] Translation: X:3.97, Y:0.13, Z:-0.06 [[ 9.99766606e-01 1.39791084e-02 1.64717504e-02 3.96651008e+00] [-1.40009622e-02 9.99901247e-01 1.21216567e-03 1.29825610e-01] [-1.64531787e-02 -1.44250311e-03 9.99863597e-01 -5.51231831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644391417999999 meters 0.05831947777872809 Centerline is valid? [True, True] Translation: X:4.03, Y:0.12, Z:-0.06 [[ 9.99867927e-01 7.11333971e-03 1.46126085e-02 4.02856949e+00] [-7.12977102e-03 9.99974008e-01 1.07267303e-03 1.19243410e-01] [-1.46045984e-02 -1.17671591e-03 9.99892655e-01 -5.81494969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704391417999999 meters 0.051819823241994946 Centerline is valid? [True, True] Translation: X:4.09, Y:0.12, Z:-0.06 [[ 9.99891228e-01 4.08653282e-04 1.47433311e-02 4.08993099e+00] [-4.24650983e-04 9.99999325e-01 1.08196627e-03 1.15497195e-01] [-1.47428790e-02 -1.08810935e-03 9.99890726e-01 -6.01502320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764391417999999 meters 0.05294774352644094 Centerline is valid? [True, True] Translation: X:4.15, Y:0.13, Z:-0.06 [[ 9.99858084e-01 -7.60768878e-03 1.50311223e-02 4.14882974e+00] [ 7.59197142e-03 9.99970573e-01 1.10243972e-03 1.25318245e-01] [-1.50390670e-02 -9.88167419e-04 9.99886419e-01 -6.02802683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824391417999999 meters 0.049472305839649545 Centerline is valid? [True, True] Translation: X:4.21, Y:0.13, Z:-0.06 [[ 9.99832017e-01 -8.74623117e-03 1.61071997e-02 4.21097206e+00] [ 8.72831184e-03 9.99961208e-01 1.18246927e-03 1.28278296e-01] [-1.61169171e-02 -1.04168197e-03 9.99869571e-01 -6.03378002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884391417999999 meters 0.055961138580225174 Centerline is valid? [True, True] Translation: X:4.27, Y:0.15, Z:-0.06 [[ 9.99896060e-01 -2.04418907e-03 1.42720438e-02 4.27005382e+00] [ 2.02946073e-03 9.99997393e-01 1.04637756e-03 1.46686682e-01] [-1.42741456e-02 -1.01730425e-03 9.99897602e-01 -6.28452391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9443914179999995 meters 0.060528912839790415 Centerline is valid? [True, True] Translation: X:4.33, Y:0.16, Z:-0.07 [[ 9.99884042e-01 6.47587176e-03 1.37827794e-02 4.33006527e+00] [-6.49040133e-03 9.99978427e-01 1.00971383e-03 1.63199961e-01] [-1.37759433e-02 -1.09905251e-03 9.99904503e-01 -6.50442371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004391417999999 meters 0.06709488869745138 Centerline is valid? [True, True] Translation: X:4.39, Y:0.18, Z:-0.06 [[ 9.99658586e-01 2.11792774e-02 1.53019809e-02 4.38939364e+00] [-2.11988869e-02 9.99774651e-01 1.12041864e-03 1.84372720e-01] [-1.52748029e-02 -1.44442108e-03 9.99882290e-01 -6.42591382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064391417999999 meters 0.07135552779709857 Centerline is valid? [True, True] Translation: X:4.45, Y:0.20, Z:-0.06 [[ 9.99333810e-01 3.25817480e-02 1.64428238e-02 4.44940997e+00] [-3.26059162e-02 9.99467561e-01 1.20382811e-03 1.96259189e-01] [-1.63948461e-02 -1.73915947e-03 9.99864083e-01 -6.28134386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124391417999999 meters 0.07955653210582625 Centerline is valid? [True, True] Translation: X:4.51, Y:0.21, Z:-0.06 [[ 9.99156622e-01 3.71307861e-02 1.75313636e-02 4.50776371e+00] [-3.71589486e-02 9.99308544e-01 1.28328731e-03 2.10653409e-01] [-1.74715920e-02 -1.93365205e-03 9.99845490e-01 -6.42550809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184391417999999 meters 0.07838325431828709 Centerline is valid? [True, True] Translation: X:4.57, Y:0.21, Z:-0.06 [[ 9.99132820e-01 3.83770683e-02 1.61495785e-02 4.56858876e+00] [-3.84011400e-02 9.99261704e-01 1.18297715e-03 2.11982646e-01] [-1.60922561e-02 -1.80211352e-03 9.99868887e-01 -6.48267754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244391417999999 meters 0.08187655227009903 Centerline is valid? [True, True] Translation: X:4.63, Y:0.22, Z:-0.07 [[ 9.99227269e-01 3.54576867e-02 1.69592879e-02 4.62769056e+00] [-3.54838155e-02 9.99369479e-01 1.24215964e-03 2.15849979e-01] [-1.69045506e-02 -1.84298003e-03 9.99855409e-01 -6.55148748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304391417999999 meters 0.07208651663040042 Centerline is valid? [True, True] Translation: X:4.69, Y:0.20, Z:-0.07 [[ 9.99463781e-01 2.79504875e-02 1.70563709e-02 4.68999948e+00] [-2.79758464e-02 9.99607818e-01 1.24993865e-03 2.00414950e-01] [-1.70147453e-02 -1.72643482e-03 9.99853748e-01 -6.69384435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364391417999999 meters 0.07184017245717285 Centerline is valid? [True, True] Translation: X:4.75, Y:0.20, Z:-0.06 [[ 9.99595144e-01 2.18877242e-02 1.81789873e-02 4.74999401e+00] [-2.19155301e-02 9.99758939e-01 1.33173023e-03 1.97667257e-01] [-1.81454565e-02 -1.72959321e-03 9.99833862e-01 -6.49824542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424391417999999 meters 0.0677265135034615 Centerline is valid? [True, True] Translation: X:4.81, Y:0.19, Z:-0.07 [[ 9.99527657e-01 2.41794958e-02 1.89687787e-02 4.81213990e+00] [-2.42101834e-02 9.99705925e-01 1.38979326e-03 1.87278827e-01] [-1.89295959e-02 -1.84837441e-03 9.99819111e-01 -6.64891749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484391417999999 meters 0.06989302126166434 Centerline is valid? [True, True] Translation: X:4.87, Y:0.19, Z:-0.07 [[ 9.99372375e-01 2.96870270e-02 1.93271083e-02 4.87215083e+00] [-2.97198846e-02 9.99557265e-01 1.41501294e-03 1.91206531e-01] [-1.92765440e-02 -1.98852427e-03 9.99812213e-01 -6.54377135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544391417999999 meters 0.07449001196071105 Centerline is valid? [True, True] Translation: X:4.93, Y:0.19, Z:-0.07 [[ 9.99020068e-01 4.00681854e-02 1.88001010e-02 4.93279528e+00] [-4.01010951e-02 9.99194679e-01 1.37665012e-03 1.92957894e-01] [-1.87298010e-02 -2.12920573e-03 9.99822315e-01 -6.94167030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604391417999999 meters 0.07949717031498747 Centerline is valid? [True, True] Translation: X:4.99, Y:0.20, Z:-0.07 [[ 9.98753315e-01 4.58855003e-02 1.96554671e-02 4.99277972e+00] [-4.59225805e-02 9.98943965e-01 1.43908594e-03 1.97120518e-01] [-1.95686770e-02 -2.33992162e-03 9.99805777e-01 -6.74737184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664391417999999 meters 0.08255075635158436 Centerline is valid? [True, True] Translation: X:5.05, Y:0.19, Z:-0.07 [[ 9.98571015e-01 4.98268054e-02 1.93188412e-02 5.05350663e+00] [-4.98633594e-02 9.98755047e-01 1.41478809e-03 1.91081471e-01] [-1.92242958e-02 -2.37606870e-03 9.99812373e-01 -6.95371013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724391417999999 meters 0.08864984857096153 Centerline is valid? [True, True] Translation: X:5.11, Y:0.19, Z:-0.07 [[ 9.98562439e-01 5.02791834e-02 1.85757647e-02 5.11277372e+00] [-5.03130619e-02 9.98732569e-01 1.36068854e-03 1.93786743e-01] [-1.84838069e-02 -2.29333607e-03 9.99826530e-01 -7.11202725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784391417999999 meters 0.078243452809799 Centerline is valid? [True, True] Translation: X:5.18, Y:0.17, Z:-0.07 [[ 9.98552450e-01 5.06348570e-02 1.81415716e-02 5.17523439e+00] [-5.06672362e-02 9.98714706e-01 1.32934624e-03 1.71996631e-01] [-1.80509431e-02 -2.24660523e-03 9.99834544e-01 -7.21027270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844391417999999 meters 0.08117943565386813 Centerline is valid? [True, True] Translation: X:5.24, Y:0.16, Z:-0.08 [[ 9.98639405e-01 4.98162867e-02 1.54167855e-02 5.23549429e+00] [-4.98395772e-02 9.98756597e-01 1.12998502e-03 1.63073200e-01] [-1.53413246e-02 -1.89681364e-03 9.99880516e-01 -7.54549202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904391417999999 meters 0.08139465339501889 Centerline is valid? [True, True] Translation: X:5.30, Y:0.16, Z:-0.08 [[ 9.98658117e-01 4.94199883e-02 1.54799743e-02 5.29623950e+00] [-4.94434077e-02 9.98776283e-01 1.13360594e-03 1.62054214e-01] [-1.54050084e-02 -1.89746746e-03 9.99879535e-01 -7.75708361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964391417999999 meters 0.07846008185658573 Centerline is valid? [True, True] Translation: X:5.36, Y:0.15, Z:-0.07 [[ 9.98706947e-01 4.71372830e-02 1.90396931e-02 5.35864114e+00] [-4.71723072e-02 9.98885794e-01 1.39438225e-03 1.46775061e-01] [-1.89527516e-02 -2.29072550e-03 9.99817756e-01 -7.29355614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024391417999999 meters 0.07720461247001711 Centerline is valid? [True, True] Translation: X:5.42, Y:0.13, Z:-0.08 [[ 9.98814872e-01 4.51712099e-02 1.81221962e-02 5.42069731e+00] [-4.52026095e-02 9.98976959e-01 1.32659062e-03 1.31797777e-01] [-1.80437328e-02 -2.14418900e-03 9.99834899e-01 -7.56359877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084391417999999 meters 0.07699238849501851 Centerline is valid? [True, True] Translation: X:5.48, Y:0.13, Z:-0.08 [[ 9.98841767e-01 4.52851117e-02 1.62598377e-02 5.48327546e+00] [-4.53104248e-02 9.98972245e-01 1.19159214e-03 1.25313484e-01] [-1.61891652e-02 -1.92695216e-03 9.99867090e-01 -7.93539557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144391417999999 meters 0.0853336387835613 Centerline is valid? [True, True] Translation: X:5.54, Y:0.13, Z:-0.08 [[ 9.98801753e-01 4.65991777e-02 1.49524092e-02 5.54471972e+00] [-4.66206650e-02 9.98912069e-01 1.09152674e-03 1.25335422e-01] [-1.48852778e-02 -1.78731008e-03 9.99887611e-01 -8.19389492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204391417999999 meters 0.08009921877579744 Centerline is valid? [True, True] Translation: X:5.61, Y:0.11, Z:-0.08 [[ 9.98667148e-01 4.87591500e-02 1.69255113e-02 5.60646074e+00] [-4.87868753e-02 9.98808456e-01 1.22881732e-03 1.13714854e-01] [-1.68454277e-02 -2.05292229e-03 9.99855998e-01 -7.89547869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264391417999999 meters 0.08210207179918945 Centerline is valid? [True, True] Translation: X:5.67, Y:0.11, Z:-0.08 [[ 9.98525621e-01 5.12467256e-02 1.78985448e-02 5.66818891e+00] [-5.12781042e-02 9.98683569e-01 1.29831866e-03 1.05263831e-01] [-1.78084480e-02 -2.21420789e-03 9.99838965e-01 -7.80314394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3243914179999985 meters 0.08826154060115331 Centerline is valid? [True, True] Translation: X:5.73, Y:0.10, Z:-0.08 [[ 9.98555924e-01 5.09455782e-02 1.70474430e-02 5.72969586e+00] [-5.09740123e-02 9.98699214e-01 1.23731148e-03 1.03612604e-01] [-1.69622324e-02 -2.10450128e-03 9.99853916e-01 -8.14528697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384391417999999 meters 0.0870116643861011 Centerline is valid? [True, True] Translation: X:5.79, Y:0.09, Z:-0.08 [[ 9.98600034e-01 4.98758974e-02 1.76172252e-02 5.79171052e+00] [-4.99060366e-02 9.98753104e-01 1.27503536e-03 9.34611478e-02] [-1.75316648e-02 -2.15245624e-03 9.99843992e-01 -8.07860574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444391417999999 meters 0.08846638093444945 Centerline is valid? [True, True] Translation: X:5.85, Y:0.09, Z:-0.08 [[ 9.98627075e-01 4.98286056e-02 1.61578002e-02 5.85437777e+00] [-4.98539644e-02 9.98755832e-01 1.17021879e-03 9.21916379e-02] [-1.60793868e-02 -1.97414256e-03 9.99868769e-01 -8.37666150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504391417999999 meters 0.08878152737725087 Centerline is valid? [True, True] Translation: X:5.92, Y:0.09, Z:-0.09 [[ 9.98740144e-01 4.84438527e-02 1.30888300e-02 5.91685650e+00] [-4.84603169e-02 9.98824663e-01 9.43480018e-04 8.54671871e-02] [-1.30277404e-02 -1.57658022e-03 9.99913892e-01 -8.83768399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564391417999999 meters 0.07760913222693976 Centerline is valid? [True, True] Translation: X:5.98, Y:0.06, Z:-0.09 [[ 9.98931115e-01 4.42893410e-02 1.32318318e-02 5.97931130e+00] [-4.43057916e-02 9.99017562e-01 9.52579787e-04 6.49220890e-02] [-1.31766432e-02 -1.53780837e-03 9.99912002e-01 -8.95848678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624391417999999 meters 0.08891921823942238 Centerline is valid? [True, True] Translation: X:6.04, Y:0.08, Z:-0.09 [[ 9.99036360e-01 4.13554070e-02 1.46996903e-02 6.03822828e+00] [-4.13753896e-02 9.99143112e-01 1.05775175e-03 7.86194829e-02] [-1.46433506e-02 -1.66493787e-03 9.99891394e-01 -9.06032690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684391417999999 meters 0.07917571780850241 Centerline is valid? [True, True] Translation: X:6.10, Y:0.06, Z:-0.09 [[ 9.99116800e-01 3.94243983e-02 1.45374545e-02 6.10047705e+00] [-3.94437489e-02 9.99221244e-01 1.04666433e-03 6.30354574e-02] [-1.44848693e-02 -1.61915163e-03 9.99893778e-01 -9.27785812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744391417999998 meters 0.07830693407403864 Centerline is valid? [True, True] Translation: X:6.16, Y:0.06, Z:-0.09 [[ 9.99143391e-01 3.86078963e-02 1.48967853e-02 6.16277268e+00] [-3.86281254e-02 9.99253080e-01 1.07251110e-03 6.00523739e-02] [-1.48442512e-02 -1.64702727e-03 9.99888462e-01 -9.23946455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804391417999999 meters 0.09506278791430221 Centerline is valid? [True, True] Translation: X:6.22, Y:0.08, Z:-0.10 [[ 9.99151347e-01 3.87098139e-02 1.40761027e-02 6.22280923e+00] [-3.87278963e-02 9.99249279e-01 1.01420971e-03 8.14637113e-02] [-1.40262756e-02 -1.55848685e-03 9.99900412e-01 -9.76678868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8643914179999985 meters 0.07172601420315575 Centerline is valid? [True, True] Translation: X:6.29, Y:0.05, Z:-0.09 [[ 9.99234108e-01 3.58013948e-02 1.57942051e-02 6.28580959e+00] [-3.58237014e-02 9.99357485e-01 1.13158133e-03 5.30947431e-02] [-1.57435449e-02 -1.69652155e-03 9.99874623e-01 -9.45799075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924391417999999 meters 0.08374107853781926 Centerline is valid? [True, True] Translation: X:6.34, Y:0.07, Z:-0.09 [[ 9.99346754e-01 3.20382244e-02 1.67217645e-02 6.34464558e+00] [-3.20627061e-02 9.99485141e-01 1.19796583e-03 7.20142213e-02] [-1.66747744e-02 -1.73332829e-03 9.99859464e-01 -9.45808458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984391417999999 meters 0.07060635972014899 Centerline is valid? [True, True] Translation: X:6.41, Y:0.06, Z:-0.10 [[ 9.99515167e-01 2.61832307e-02 1.68484509e-02 6.40678851e+00] [-2.62072625e-02 9.99655802e-01 1.20710343e-03 5.81860512e-02] [-1.68110458e-02 -1.64806996e-03 9.99857326e-01 -9.71335355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044391418 meters 0.06473290335942819 Centerline is valid? [True, True] Translation: X:6.47, Y:0.06, Z:-0.10 [[ 9.99665924e-01 2.08767897e-02 1.52381239e-02 6.46752939e+00] [-2.08958330e-02 9.99781062e-01 1.09155713e-03 5.50772998e-02] [-1.52119995e-02 -1.40960576e-03 9.99883297e-01 -9.92375570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104391418 meters 0.06505133578893459 Centerline is valid? [True, True] Translation: X:6.53, Y:0.06, Z:-0.10 [[ 9.99709167e-01 1.92766172e-02 1.44911221e-02 6.52913870e+00] [-1.92936798e-02 9.99813320e-01 1.03856062e-03 5.96477003e-02] [-1.44683970e-02 -1.31784564e-03 9.99894459e-01 -1.01791332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164391418 meters 0.06283071837482286 Centerline is valid? [True, True] Translation: X:6.59, Y:0.06, Z:-0.10 [[ 9.99723437e-01 1.85390395e-02 1.44690824e-02 6.59159787e+00] [-1.85559862e-02 9.99827284e-01 1.03785254e-03 5.99260133e-02] [-1.44473425e-02 -1.30605360e-03 9.99894779e-01 -1.04983873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224391418 meters 0.06165269744323609 Centerline is valid? [True, True] Translation: X:6.65, Y:0.07, Z:-0.10 [[ 9.99651892e-01 1.93909946e-02 1.78908874e-02 6.65338852e+00] [-1.94169184e-02 9.99810659e-01 1.27640916e-03 6.64116759e-02] [-1.78627490e-02 -1.62335073e-03 9.99839131e-01 -1.02869422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284391418 meters 0.07048456261881934 Centerline is valid? [True, True] Translation: X:6.71, Y:0.08, Z:-0.10 [[ 9.99571581e-01 2.10093401e-02 2.03779738e-02 6.71367788e+00] [-2.10431641e-02 9.99777521e-01 1.44680081e-03 8.23380381e-02] [-2.03430438e-02 -1.87499802e-03 9.99791301e-01 -1.01107093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344391417999999 meters 0.07462980944587297 Centerline is valid? [True, True] Translation: X:6.77, Y:0.09, Z:-0.11 [[ 9.99536314e-01 2.30572167e-02 1.98877522e-02 6.77370135e+00] [-2.30897200e-02 9.99732408e-01 1.40623223e-03 9.10132235e-02] [-1.98500066e-02 -1.86478281e-03 9.99801230e-01 -1.05157789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404391418 meters 0.06905237520018913 Centerline is valid? [True, True] Translation: X:6.84, Y:0.09, Z:-0.11 [[ 9.99510582e-01 2.47614354e-02 1.91171895e-02 6.83529796e+00] [-2.47917715e-02 9.99691723e-01 1.35145237e-03 9.05058180e-02] [-1.90778322e-02 -1.82473994e-03 9.99816336e-01 -1.07872211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464391418 meters 0.06398367184608061 Centerline is valid? [True, True] Translation: X:6.90, Y:0.09, Z:-0.11 [[ 9.99413958e-01 2.78985964e-02 1.98345572e-02 6.89569406e+00] [-2.79318460e-02 9.99608848e-01 1.40123898e-03 9.34362851e-02] [-1.97877063e-02 -1.95443359e-03 9.99802294e-01 -1.07922177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524391418 meters 0.06388058086604935 Centerline is valid? [True, True] Translation: X:6.96, Y:0.10, Z:-0.11 [[ 9.99349334e-01 2.99933863e-02 2.00326051e-02 6.95583604e+00] [-3.00277187e-02 9.99548065e-01 1.41516836e-03 9.91065710e-02] [-1.99811060e-02 -2.01578099e-03 9.99798326e-01 -1.09352771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584391418 meters 0.06415480251337329 Centerline is valid? [True, True] Translation: X:7.02, Y:0.10, Z:-0.11 [[ 9.99393662e-01 2.85036836e-02 1.99962068e-02 7.01694231e+00] [-2.85375885e-02 9.99591723e-01 1.41221393e-03 1.04317634e-01] [-1.99477895e-02 -1.98200117e-03 9.99799058e-01 -1.11261528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644391418 meters 0.06732112579271611 Centerline is valid? [True, True] Translation: X:7.08, Y:0.11, Z:-0.11 [[ 9.99455108e-01 2.47347515e-02 2.18558500e-02 7.07731237e+00] [-2.47743438e-02 9.99691879e-01 1.54257421e-03 1.14034010e-01] [-2.18109606e-02 -2.08319801e-03 9.99759942e-01 -1.12997307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704391418 meters 0.06799070655236145 Centerline is valid? [True, True] Translation: X:7.14, Y:0.12, Z:-0.12 [[ 9.99542263e-01 2.22660108e-02 2.04814205e-02 7.13691272e+00] [-2.23002646e-02 9.99750273e-01 1.44553399e-03 1.15859457e-01] [-2.04441195e-02 -1.90161341e-03 9.99789189e-01 -1.15802986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764391417999999 meters 0.07164656902107283 Centerline is valid? [True, True] Translation: X:7.20, Y:0.12, Z:-0.12 [[ 9.99510322e-01 2.34854937e-02 2.06772530e-02 7.19720460e+00] [-2.35206683e-02 9.99722285e-01 1.45954167e-03 1.23739911e-01] [-2.06372326e-02 -1.94516977e-03 9.99785137e-01 -1.17507033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824391418 meters 0.07352060952945268 Centerline is valid? [True, True] Translation: X:7.26, Y:0.13, Z:-0.11 [[ 9.99427965e-01 2.49402841e-02 2.28412833e-02 7.25860065e+00] [-2.49835020e-02 9.99686569e-01 1.60864528e-03 1.31600055e-01] [-2.27940041e-02 -2.17838032e-03 9.99737810e-01 -1.14889365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884391418 meters 0.06792580741623143 Centerline is valid? [True, True] Translation: X:7.32, Y:0.13, Z:-0.12 [[ 9.99314492e-01 2.88568661e-02 2.31911044e-02 7.31899523e+00] [-2.89023310e-02 9.99580915e-01 1.62758716e-03 1.29344545e-01] [-2.31344183e-02 -2.29674841e-03 9.99729725e-01 -1.16958054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944391418 meters 0.07255135678810577 Centerline is valid? [True, True] Translation: X:7.38, Y:0.14, Z:-0.12 [[ 9.99142465e-01 3.42243193e-02 2.33029965e-02 7.37933582e+00] [-3.42716768e-02 9.99411215e-01 1.63580466e-03 1.40164096e-01] [-2.32332917e-02 -2.43303466e-03 9.99727110e-01 -1.16900093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004391417999999 meters 0.07812052510941775 Centerline is valid? [True, True] Translation: X:7.44, Y:0.15, Z:-0.12 [[ 9.99056509e-01 3.85977444e-02 1.99074247e-02 7.43823148e+00] [-3.86331570e-02 9.99252484e-01 1.39721604e-03 1.51347973e-01] [-1.98386142e-02 -2.16498444e-03 9.99800851e-01 -1.22630826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064391418 meters 0.07081609579819187 Centerline is valid? [True, True] Translation: X:7.50, Y:0.15, Z:-0.12 [[ 9.98962208e-01 4.02519040e-02 2.13141284e-02 7.49954318e+00] [-4.02928273e-02 9.99186798e-01 1.49387595e-03 1.45980875e-01] [-2.12366644e-02 -2.35113211e-03 9.99771712e-01 -1.21953388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124391418 meters 0.06432596463470132 Centerline is valid? [True, True] Translation: X:7.56, Y:0.14, Z:-0.12 [[ 9.99019056e-01 3.76028379e-02 2.33869912e-02 7.56134051e+00] [-3.76513805e-02 9.99289592e-01 1.63860940e-03 1.40165437e-01] [-2.33087606e-02 -2.51755453e-03 9.99725144e-01 -1.21028300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184391417999999 meters 0.061511049697448986 Centerline is valid? [True, True] Translation: X:7.62, Y:0.14, Z:-0.12 [[ 9.99313522e-01 2.86307921e-02 2.35109008e-02 7.62087737e+00] [-2.86773839e-02 9.99587363e-01 1.64687573e-03 1.35355134e-01] [-2.34540480e-02 -2.31997631e-03 9.99722224e-01 -1.23722193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244391418 meters 0.06112173477549398 Centerline is valid? [True, True] Translation: X:7.68, Y:0.13, Z:-0.13 [[ 9.99608020e-01 1.76537700e-02 2.17290273e-02 7.68206531e+00] [-1.76910098e-02 9.99842342e-01 1.52278185e-03 1.34434486e-01] [-2.16987187e-02 -1.90659338e-03 9.99762737e-01 -1.28008105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304391418 meters 0.05856313662836717 Centerline is valid? [True, True] Translation: X:7.74, Y:0.13, Z:-0.13 [[ 9.99731530e-01 1.22187870e-02 1.96867863e-02 7.74281243e+00] [-1.22483068e-02 9.99924035e-01 1.37959062e-03 1.31124099e-01] [-1.96684339e-02 -1.62035003e-03 9.99805245e-01 -1.32311740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364391418 meters 0.05624671617671104 Centerline is valid? [True, True] Translation: X:7.80, Y:0.13, Z:-0.13 [[ 9.99772781e-01 7.57030946e-03 1.99267763e-02 7.80404353e+00] [-7.59963686e-03 9.99970147e-01 1.39644344e-03 1.29424874e-01] [-1.99156099e-02 -1.54756241e-03 9.99800467e-01 -1.33445239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424391417999999 meters 0.053175668964975505 Centerline is valid? [True, True] Translation: X:7.87, Y:0.13, Z:-0.14 [[ 9.99794736e-01 6.59152139e-03 1.91582264e-02 7.86629087e+00] [-6.61846685e-03 9.99977195e-01 1.34340450e-03 1.27317878e-01] [-1.91489344e-02 -1.46992683e-03 9.99815562e-01 -1.36228968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484391418 meters 0.0563988430725328 Centerline is valid? [True, True] Translation: X:7.93, Y:0.13, Z:-0.14 [[ 9.99763476e-01 6.78099242e-03 2.06642011e-02 7.92829476e+00] [-6.81224068e-03 9.99975756e-01 1.44217529e-03 1.33940874e-01] [-2.06539207e-02 -1.58260369e-03 9.99785432e-01 -1.36379001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544391418 meters 0.054573810503572205 Centerline is valid? [True, True] Translation: X:7.99, Y:0.13, Z:-0.14 [[ 9.99723554e-01 5.00193464e-03 2.29738155e-02 7.98980001e+00] [-5.03997379e-03 9.99986022e-01 1.59815813e-03 1.34792555e-01] [-2.29655005e-02 -1.71350376e-03 9.99734790e-01 -1.36173360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604391417999999 meters 0.049116430385830634 Centerline is valid? [True, True] Translation: X:8.05, Y:0.13, Z:-0.14 [[ 9.99784380e-01 -1.55920197e-03 2.07065916e-02 8.05059392e+00] [ 1.52971893e-03 9.99997794e-01 1.43961088e-03 1.29053303e-01] [-2.07087906e-02 -1.40762520e-03 9.99784559e-01 -1.40905789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664391418 meters 0.04541822928995891 Centerline is valid? [True, True] Translation: X:8.11, Y:0.13, Z:-0.14 [[ 9.99746956e-01 -7.31094920e-03 2.12737984e-02 8.11182612e+00] [ 7.28112419e-03 9.99972398e-01 1.47908054e-03 1.26454083e-01] [-2.12840247e-02 -1.32380910e-03 9.99772593e-01 -1.42262314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724391418 meters 0.04070551727373451 Centerline is valid? [True, True] Translation: X:8.17, Y:0.12, Z:-0.14 [[ 9.99587132e-01 -1.55305978e-02 2.41736743e-02 8.17273238e+00] [ 1.54944805e-02 9.99878541e-01 1.68067740e-03 1.22474756e-01] [-2.41968401e-02 -1.30542497e-03 9.99706361e-01 -1.40904115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784391418 meters 0.0399455665458854 Centerline is valid? [True, True] Translation: X:8.23, Y:0.13, Z:-0.14 [[ 9.99507468e-01 -2.03911081e-02 2.38542087e-02 8.23231420e+00] [ 2.03573186e-02 9.99791393e-01 1.65850580e-03 1.25183002e-01] [-2.38830513e-02 -1.17208120e-03 9.99714072e-01 -1.44949269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844391417999999 meters 0.04017175509876799 Centerline is valid? [True, True] Translation: X:8.29, Y:0.13, Z:-0.15 [[ 9.99469068e-01 -2.05771730e-02 2.52618737e-02 8.29273497e+00] [ 2.05393411e-02 9.99787503e-01 1.75617567e-03 1.32242789e-01] [-2.52926428e-02 -1.23638102e-03 9.99679325e-01 -1.46578071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904391418 meters 0.04211102186207908 Centerline is valid? [True, True] Translation: X:8.35, Y:0.14, Z:-0.15 [[ 9.99549559e-01 -1.90039449e-02 2.32277502e-02 8.35427979e+00] [ 1.89715693e-02 9.99818722e-01 1.61342374e-03 1.40168636e-01] [-2.32542010e-02 -1.17203011e-03 9.99728897e-01 -1.51676171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964391418 meters 0.04539253250726387 Centerline is valid? [True, True] Translation: X:8.41, Y:0.15, Z:-0.15 [[ 9.99569884e-01 -1.64507399e-02 2.42779706e-02 8.41443655e+00] [ 1.64146672e-02 9.99863852e-01 1.68437527e-03 1.52948298e-01] [-2.43023744e-02 -1.28513599e-03 9.99703828e-01 -1.53434907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024391417999999 meters 0.042840815591118256 Centerline is valid? [True, True] Translation: X:8.48, Y:0.16, Z:-0.15 [[ 9.99558241e-01 -1.29679365e-02 2.67424017e-02 8.47596249e+00] [ 1.29229672e-02 9.99914777e-01 1.85372447e-03 1.55470655e-01] [-2.67641616e-02 -1.50731439e-03 9.99640639e-01 -1.54153361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084391418 meters 0.045950480103467556 Centerline is valid? [True, True] Translation: X:8.54, Y:0.17, Z:-0.15 [[ 9.99541196e-01 -1.08247540e-02 2.82882057e-02 8.53596756e+00] [ 1.07736141e-02 9.99940043e-01 1.95961059e-03 1.66044018e-01] [-2.83077219e-02 -1.65394530e-03 9.99597888e-01 -1.54807220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144391418 meters 0.04439867626385095 Centerline is valid? [True, True] Translation: X:8.60, Y:0.17, Z:-0.16 [[ 9.99519842e-01 -8.03585702e-03 2.99250870e-02 8.59644649e+00] [ 7.97741430e-03 9.99966034e-01 2.07184691e-03 1.72080186e-01] [-2.99407196e-02 -1.83212728e-03 9.99549997e-01 -1.56516887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204391418 meters 0.04694188559767656 Centerline is valid? [True, True] Translation: X:8.66, Y:0.18, Z:-0.16 [[ 9.99528541e-01 -6.04121750e-03 3.01031300e-02 8.65821805e+00] [ 5.98121144e-03 9.99979943e-01 2.08299865e-03 1.82254105e-01] [-3.01151101e-02 -1.90196341e-03 9.99544628e-01 -1.58736844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264391417999999 meters 0.049121720755992825 Centerline is valid? [True, True] Translation: X:8.72, Y:0.19, Z:-0.16 [[ 9.99452238e-01 -5.87533614e-03 3.25684481e-02 8.71972189e+00] [ 5.80518122e-03 9.99980623e-01 2.24821671e-03 1.92380190e-01] [-3.25810261e-02 -2.05791947e-03 9.99466979e-01 -1.57330966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324391418 meters 0.044017851770846696 Centerline is valid? [True, True] Translation: X:8.78, Y:0.19, Z:-0.16 [[ 9.99364223e-01 -8.67050414e-03 3.45828324e-02 8.78179543e+00] [ 8.59334712e-03 9.99960246e-01 2.37909340e-03 1.93622194e-01] [-3.46020856e-02 -2.08039854e-03 9.99399003e-01 -1.58460012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384391418 meters 0.04144357445585095 Centerline is valid? [True, True] Translation: X:8.84, Y:0.20, Z:-0.16 [[ 9.99301021e-01 -1.14192596e-02 3.55959186e-02 8.84314036e+00] [ 1.13393247e-02 9.99932714e-01 2.44669962e-03 1.96612002e-01] [-3.56214631e-02 -2.04135575e-03 9.99363269e-01 -1.59636997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444391417999999 meters 0.04167309684403986 Centerline is valid? [True, True] Translation: X:8.90, Y:0.21, Z:-0.16 [[ 9.99355915e-01 -1.50291215e-02 3.25864984e-02 8.90224181e+00] [ 1.49640796e-02 9.99885525e-01 2.23895134e-03 2.05495615e-01] [-3.26164175e-02 -1.74988231e-03 9.99466411e-01 -1.64591807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504391417999999 meters 0.03857277483840993 Centerline is valid? [True, True] Translation: X:8.96, Y:0.21, Z:-0.17 [[ 9.99332707e-01 -1.80119732e-02 3.17759153e-02 8.96324355e+00] [ 1.79516455e-02 9.99836473e-01 2.18282470e-03 2.08410518e-01] [-3.18100361e-02 -1.61093815e-03 9.99492635e-01 -1.67223019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564391418 meters 0.038416605308477826 Centerline is valid? [True, True] Translation: X:9.02, Y:0.22, Z:-0.17 [[ 9.99289133e-01 -1.95862186e-02 3.22119486e-02 9.02482738e+00] [ 1.95250991e-02 9.99806923e-01 2.21090446e-03 2.15118221e-01] [-3.22490325e-02 -1.58039131e-03 9.99478615e-01 -1.67977075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624391418 meters 0.03802071455088762 Centerline is valid? [True, True] Translation: X:9.09, Y:0.22, Z:-0.17 [[ 9.99230372e-01 -1.95103264e-02 3.40295628e-02 9.08677215e+00] [ 1.94421714e-02 9.99808262e-01 2.33259971e-03 2.22153654e-01] [-3.40685478e-02 -1.66919588e-03 9.99418105e-01 -1.68297354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684391417999999 meters 0.03981987492839338 Centerline is valid? [True, True] Translation: X:9.15, Y:0.23, Z:-0.17 [[ 9.99310126e-01 -1.85294357e-02 3.21859097e-02 9.14836148e+00] [ 1.84680481e-02 9.99827023e-01 2.20354430e-03 2.32041091e-01] [-3.22211727e-02 -1.60761320e-03 9.99479470e-01 -1.71778823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744391418 meters 0.03769230482501913 Centerline is valid? [True, True] Translation: X:9.21, Y:0.24, Z:-0.17 [[ 9.99268870e-01 -1.85173547e-02 3.34489587e-02 9.21070823e+00] [ 1.84511450e-02 9.99827147e-01 2.28703961e-03 2.35001062e-01] [-3.34855268e-02 -1.66819590e-03 9.99437810e-01 -1.72415304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804391418 meters 0.04056861984534285 Centerline is valid? [True, True] Translation: X:9.27, Y:0.25, Z:-0.17 [[ 9.99296863e-01 -1.98895316e-02 3.17834207e-02 9.27145317e+00] [ 1.98305932e-02 9.99801003e-01 2.16855558e-03 2.47404965e-01] [-3.18202274e-02 -1.53674670e-03 9.99492427e-01 -1.74595407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864391417999999 meters 0.03764332321186952 Centerline is valid? [True, True] Translation: X:9.33, Y:0.25, Z:-0.18 [[ 9.99345105e-01 -2.12042413e-02 2.93213318e-02 9.33367079e+00] [ 2.11548806e-02 9.99774225e-01 1.99266274e-03 2.48252416e-01] [-2.93569647e-02 -1.37106849e-03 9.99568051e-01 -1.79459412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924391417999999 meters 0.03510615403269412 Centerline is valid? [True, True] Translation: X:9.40, Y:0.25, Z:-0.18 [[ 9.99270793e-01 -2.34694896e-02 3.01175145e-02 9.39621374e+00] [ 2.34186685e-02 9.99723666e-01 2.03910253e-03 2.52145879e-01] [-3.01570487e-02 -1.33230351e-03 9.99544285e-01 -1.79245923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984391418 meters 0.036166128743282774 Centerline is valid? [True, True] Translation: X:9.46, Y:0.26, Z:-0.18 [[ 9.99213465e-01 -2.77531081e-02 2.83234218e-02 9.45548164e+00] [ 2.77099403e-02 9.99614171e-01 1.91553916e-03 2.58162632e-01] [-2.83656559e-02 -1.12919219e-03 9.99596976e-01 -1.82327231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044391418 meters 0.033222693732813405 Centerline is valid? [True, True] Translation: X:9.52, Y:0.26, Z:-0.19 [[ 9.99109787e-01 -3.21468824e-02 2.73168822e-02 9.51647002e+00] [ 3.21083624e-02 9.99482686e-01 1.84769607e-03 2.61599555e-01] [-2.73621484e-02 -9.68950877e-04 9.99625117e-01 -1.85797457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104391417999999 meters 0.028201050313290794 Centerline is valid? [True, True] Translation: X:9.58, Y:0.26, Z:-0.19 [[ 9.99048601e-01 -3.41095039e-02 2.71741477e-02 9.57862930e+00] [ 3.40721478e-02 9.99417688e-01 1.83666918e-03 2.60566534e-01] [-2.72209717e-02 -9.09040205e-04 9.99629027e-01 -1.87548862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164391418 meters 0.031874924244345265 Centerline is valid? [True, True] Translation: X:9.64, Y:0.27, Z:-0.19 [[ 9.99019018e-01 -3.60488773e-02 2.57192629e-02 9.63952958e+00] [ 3.60161117e-02 9.99349701e-01 1.73621695e-03 2.71149739e-01] [-2.57651263e-02 -8.08205908e-04 9.99667697e-01 -1.89404770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224391418 meters 0.028583451524320076 Centerline is valid? [True, True] Translation: X:9.70, Y:0.27, Z:-0.19 [[ 9.99048379e-01 -3.54828592e-02 2.53634127e-02 9.70212979e+00] [ 3.54508561e-02 9.99369957e-01 1.71045830e-03 2.72346355e-01] [-2.54081246e-02 -8.09675899e-04 9.99676834e-01 -1.91678027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284391417999998 meters 0.03151956271636163 Centerline is valid? [True, True] Translation: X:9.76, Y:0.29, Z:-0.19 [[ 9.99156088e-01 -3.13600388e-02 2.65265708e-02 9.76136837e+00] [ 3.13236354e-02 9.99507697e-01 1.78685326e-03 2.86830273e-01] [-2.65695474e-02 -9.54436681e-04 9.99646512e-01 -1.91167803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344391417999999 meters 0.03531955934531921 Centerline is valid? [True, True] Translation: X:9.82, Y:0.30, Z:-0.19 [[ 9.99259447e-01 -2.74883923e-02 2.69248055e-02 9.82098202e+00] [ 2.74494868e-02 9.99621547e-01 1.81357615e-03 3.01133802e-01] [-2.69644680e-02 -1.07316101e-03 9.99635817e-01 -1.91733241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404391418 meters 0.03363276690854719 Centerline is valid? [True, True] Translation: X:9.88, Y:0.30, Z:-0.20 [[ 9.99333361e-01 -2.64113242e-02 2.52046604e-02 9.88262195e+00] [ 2.63769085e-02 9.99650628e-01 1.69699841e-03 3.03841593e-01] [-2.52406746e-02 -1.03104611e-03 9.99680872e-01 -1.96182101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464391418 meters 0.033891108219077024 Centerline is valid? [True, True] Translation: X:9.94, Y:0.31, Z:-0.20 [[ 9.99341000e-01 -2.66126654e-02 2.46846647e-02 9.94338801e+00] [ 2.65797684e-02 9.99645317e-01 1.65989590e-03 3.12289568e-01] [-2.47200838e-02 -1.00268936e-03 9.99693909e-01 -1.96895558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524391417999999 meters 0.031752929710545136 Centerline is valid? [True, True] Translation: X:10.01, Y:0.32, Z:-0.20 [[ 9.99285032e-01 -2.90310044e-02 2.42203732e-02 1.00054403e+01] [ 2.90000818e-02 9.99578085e-01 1.62706678e-03 3.16360620e-01] [-2.42573896e-02 -9.23510681e-04 9.99705320e-01 -1.98301305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584391418 meters 0.032234441274120736 Centerline is valid? [True, True] Translation: X:10.07, Y:0.32, Z:-0.20 [[ 9.99309593e-01 -2.93427895e-02 2.27890025e-02 1.00678454e+01] [ 2.93155384e-02 9.99569038e-01 1.52903017e-03 3.20570938e-01] [-2.28240473e-02 -8.59902641e-04 9.99739128e-01 -2.01796722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644391418 meters 0.033947970919982 Centerline is valid? [True, True] Translation: X:10.13, Y:0.33, Z:-0.20 [[ 9.99407480e-01 -2.70737016e-02 2.12533077e-02 1.01285816e+01] [ 2.70495261e-02 9.99633080e-01 1.42420215e-03 3.28556567e-01] [-2.12840679e-02 -8.48466379e-04 9.99773109e-01 -2.04279675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704391417999998 meters 0.03295741558247286 Centerline is valid? [True, True] Translation: X:10.19, Y:0.33, Z:-0.20 [[ 9.99378093e-01 -2.76178643e-02 2.19244148e-02 1.01909534e+01] [ 2.75923012e-02 9.99618183e-01 1.46767433e-03 3.32971250e-01] [-2.19565777e-02 -8.61816520e-04 9.99758554e-01 -2.04545111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764391417999999 meters 0.030328560405161607 Centerline is valid? [True, True] Translation: X:10.25, Y:0.33, Z:-0.20 [[ 9.99176522e-01 -3.37864294e-02 2.24667750e-02 1.02519733e+01] [ 3.37611877e-02 9.99428800e-01 1.50197317e-03 3.33932591e-01] [-2.25046882e-02 -7.42231326e-04 9.99746462e-01 -2.04795040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824391418 meters 0.025739025249811424 Centerline is valid? [True, True] Translation: X:10.31, Y:0.34, Z:-0.21 [[ 9.98997958e-01 -3.94190410e-02 2.11947979e-02 1.03133822e+01] [ 3.93978517e-02 9.99222599e-01 1.41653973e-03 3.38467040e-01] [-2.12341597e-02 -5.80090790e-04 9.99774362e-01 -2.05087511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884391418 meters 0.0244318714138362 Centerline is valid? [True, True] Translation: X:10.38, Y:0.34, Z:-0.21 [[ 9.98925283e-01 -4.19910811e-02 1.96221517e-02 1.03757846e+01] [ 4.19734368e-02 9.99117868e-01 1.31036462e-03 3.42017748e-01] [-1.96598660e-02 -4.85347209e-04 9.99806608e-01 -2.08629748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944391417999999 meters 0.02340669601600208 Centerline is valid? [True, True] Translation: X:10.44, Y:0.35, Z:-0.21 [[ 9.98827080e-01 -4.42487603e-02 1.96598742e-02 1.04377369e+01] [ 4.42315290e-02 9.99020447e-01 1.31065561e-03 3.47528812e-01] [-1.96986112e-02 -4.39532015e-04 9.99805867e-01 -2.09202888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004391417999999 meters 0.025236043032720052 Centerline is valid? [True, True] Translation: X:10.50, Y:0.36, Z:-0.21 [[ 9.98783630e-01 -4.52466772e-02 1.95958643e-02 1.04989148e+01] [ 4.52297834e-02 9.98975758e-01 1.30468097e-03 3.55753320e-01] [-1.96348258e-02 -4.16777297e-04 9.99807131e-01 -2.11722579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064391418 meters 0.02237704287317231 Centerline is valid? [True, True] Translation: X:10.56, Y:0.37, Z:-0.21 [[ 9.98851431e-01 -4.48846063e-02 1.67687391e-02 1.05607693e+01] [ 4.48722040e-02 9.98992113e-01 1.11531882e-03 3.66308232e-01] [-1.68018987e-02 -3.61587516e-04 9.99858773e-01 -2.13220270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124391417999998 meters 0.024710731900212807 Centerline is valid? [True, True] Translation: X:10.62, Y:0.37, Z:-0.22 [[ 9.98986900e-01 -4.26447430e-02 1.43735573e-02 1.06219981e+01] [ 4.26354160e-02 9.99090241e-01 9.54840500e-04 3.73610526e-01] [-1.44011997e-02 -3.41050558e-04 9.99896239e-01 -2.17923064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184391417999999 meters 0.02914545340382826 Centerline is valid? [True, True] Translation: X:10.68, Y:0.39, Z:-0.22 [[ 9.99241110e-01 -3.61219897e-02 1.45741625e-02 1.06818493e+01] [ 3.61117269e-02 9.99347291e-01 9.66812151e-04 3.89017266e-01] [-1.45995730e-02 -4.39780272e-04 9.99893324e-01 -2.17999713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244391418 meters 0.02983463604958543 Centerline is valid? [True, True] Translation: X:10.74, Y:0.40, Z:-0.22 [[ 9.99415741e-01 -3.06376736e-02 1.51495449e-02 1.07417356e+01] [ 3.06259603e-02 9.99530410e-01 1.00462639e-03 4.04054025e-01] [-1.51732102e-02 -5.40070071e-04 9.99884734e-01 -2.15370606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304391418 meters 0.029843434454454445 Centerline is valid? [True, True] Translation: X:10.80, Y:0.41, Z:-0.21 [[ 9.99429431e-01 -2.94179761e-02 1.65950092e-02 1.08038194e+01] [ 2.94037536e-02 9.99567010e-01 1.10043616e-03 4.10248976e-01] [-1.66201963e-02 -6.11852725e-04 9.99861688e-01 -2.14920469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364391417999999 meters 0.028336348064388783 Centerline is valid? [True, True] Translation: X:10.87, Y:0.42, Z:-0.21 [[ 9.99344350e-01 -3.12826461e-02 1.82281610e-02 1.08652924e+01] [ 3.12658295e-02 9.99510376e-01 1.20688553e-03 4.17527693e-01] [-1.82569906e-02 -6.36175664e-04 9.99833125e-01 -2.14566724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424391417999999 meters 0.027244818396950903 Centerline is valid? [True, True] Translation: X:10.93, Y:0.42, Z:-0.22 [[ 9.99213882e-01 -3.63152417e-02 1.59003661e-02 1.09262591e+01] [ 3.63031062e-02 9.99340272e-01 1.05128335e-03 4.20366567e-01] [-1.59280538e-02 -4.73224240e-04 9.99873029e-01 -2.18087365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484391418 meters 0.027239127119288234 Centerline is valid? [True, True] Translation: X:10.99, Y:0.43, Z:-0.22 [[ 9.99075387e-01 -4.01037988e-02 1.54937372e-02 1.09867951e+01] [ 4.00927419e-02 9.99195438e-01 1.02371832e-03 4.25587539e-01] [-1.55223265e-02 -4.01585372e-04 9.99879441e-01 -2.19222934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544391417999998 meters 0.023502698907191207 Centerline is valid? [True, True] Translation: X:11.05, Y:0.43, Z:-0.21 [[ 9.98892597e-01 -4.37107808e-02 1.74053540e-02 1.10488379e+01] [ 4.36973862e-02 9.99044152e-01 1.14932145e-03 4.28735175e-01] [-1.74389548e-02 -3.87480220e-04 9.99847855e-01 -2.14940263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604391417999999 meters 0.024932334841836667 Centerline is valid? [True, True] Translation: X:11.11, Y:0.44, Z:-0.21 [[ 9.98872544e-01 -4.40794615e-02 1.76250530e-02 1.11096821e+01] [ 4.40658127e-02 9.99027954e-01 1.16219660e-03 4.36144741e-01] [-1.76591497e-02 -3.84223986e-04 9.99843991e-01 -2.14984403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664391418 meters 0.023514283755626014 Centerline is valid? [True, True] Translation: X:11.17, Y:0.44, Z:-0.21 [[ 9.98911314e-01 -4.32182040e-02 1.75605802e-02 1.11711902e+01] [ 4.32045399e-02 9.99065578e-01 1.15692307e-03 4.43169145e-01] [-1.75941713e-02 -3.96966761e-04 9.99845132e-01 -2.14495792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724391418 meters 0.028155877813552947 Centerline is valid? [True, True] Translation: X:11.23, Y:0.46, Z:-0.22 [[ 9.99044713e-01 -4.08829838e-02 1.54351079e-02 1.12324823e+01] [ 4.08721657e-02 9.99163868e-01 1.01580945e-03 4.55087752e-01] [-1.54637314e-02 -3.83972773e-04 9.99880356e-01 -2.19976090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784391417999998 meters 0.026466733252429046 Centerline is valid? [True, True] Translation: X:11.29, Y:0.47, Z:-0.22 [[ 9.99262949e-01 -3.53559466e-02 1.49504140e-02 1.12930132e+01] [ 3.53452008e-02 9.99374680e-01 9.82465803e-04 4.67116384e-01] [-1.49758012e-02 -4.53316292e-04 9.99887754e-01 -2.16726518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844391417999999 meters 0.031596475801713146 Centerline is valid? [True, True] Translation: X:11.35, Y:0.48, Z:-0.22 [[ 9.99379685e-01 -3.15139713e-02 1.57199098e-02 1.13531706e+01] [ 3.15016278e-02 9.99503168e-01 1.03227125e-03 4.79035329e-01] [-1.57446306e-02 -5.36428165e-04 9.99875902e-01 -2.17831778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904391418 meters 0.030356535232583585 Centerline is valid? [True, True] Translation: X:11.42, Y:0.49, Z:-0.21 [[ 9.99391136e-01 -2.94488256e-02 1.87116219e-02 1.14152258e+01] [ 2.94309909e-02 9.99566060e-01 1.22785942e-03 4.90150163e-01] [-1.87396612e-02 -6.76410248e-04 9.99824168e-01 -2.11885002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964391417999998 meters 0.02837218220209752 Centerline is valid? [True, True] Translation: X:11.48, Y:0.50, Z:-0.21 [[ 9.99235138e-01 -3.38457041e-02 1.95859103e-02 1.14769620e+01] [ 3.38270430e-02 9.99426878e-01 1.28339545e-03 4.95417168e-01] [-1.96181226e-02 -6.19880397e-04 9.99807354e-01 -2.13248242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024391417999999 meters 0.023924391925013826 Centerline is valid? [True, True] Translation: X:11.54, Y:0.50, Z:-0.21 [[ 9.99077913e-01 -3.90588602e-02 1.78249676e-02 1.15386047e+01] [ 3.90442632e-02 9.99236801e-01 1.16631792e-03 4.98649259e-01] [-1.78569186e-02 -4.69279744e-04 9.99840442e-01 -2.14222406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084391418 meters 0.02308306003960817 Centerline is valid? [True, True] Translation: X:11.60, Y:0.50, Z:-0.22 [[ 9.98883726e-01 -4.43487575e-02 1.62631124e-02 1.15995361e+01] [ 4.43373252e-02 9.99016052e-01 1.06302163e-03 5.02991732e-01] [-1.62942540e-02 -3.40772104e-04 9.99867182e-01 -2.20255482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144391418 meters 0.021161122494940652 Centerline is valid? [True, True] Translation: X:11.66, Y:0.51, Z:-0.22 [[ 9.98856395e-01 -4.57870530e-02 1.37639851e-02 1.16612268e+01] [ 4.57790025e-02 9.98951187e-01 8.99560891e-04 5.10356625e-01] [-1.37907375e-02 -2.68430643e-04 9.99904867e-01 -2.20953626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204391417999998 meters 0.02159669610460497 Centerline is valid? [True, True] Translation: X:11.72, Y:0.52, Z:-0.22 [[ 9.98962786e-01 -4.38161078e-02 1.23895682e-02 1.17224504e+01] [ 4.38094448e-02 9.99039578e-01 8.08809051e-04 5.23065698e-01] [-1.24131079e-02 -2.65190039e-04 9.99922919e-01 -2.21146262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264391417999999 meters 0.025748395005969964 Centerline is valid? [True, True] Translation: X:11.78, Y:0.54, Z:-0.22 [[ 9.99229255e-01 -3.75101358e-02 1.15709076e-02 1.17816960e+01] [ 3.75039208e-02 9.99296196e-01 7.53713026e-04 5.41472614e-01] [-1.15910358e-02 -3.19177702e-04 9.99932771e-01 -2.23173308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324391418 meters 0.029615557744001233 Centerline is valid? [True, True] Translation: X:11.84, Y:0.55, Z:-0.23 [[ 9.99419589e-01 -3.21790712e-02 1.11800303e-02 1.18421015e+01] [ 3.21729357e-02 9.99482052e-01 7.28264780e-04 5.53165552e-01] [-1.11976745e-02 -3.68147693e-04 9.99937236e-01 -2.27538212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384391417999998 meters 0.03324584098262991 Centerline is valid? [True, True] Translation: X:11.90, Y:0.57, Z:-0.23 [[ 9.99599665e-01 -2.66545701e-02 9.48908949e-03 1.19015608e+01] [ 2.66499070e-02 9.99644637e-01 6.17551134e-04 5.70198012e-01] [-9.50217798e-03 -3.64420555e-04 9.99954787e-01 -2.28447003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444391417999999 meters 0.03495623213251625 Centerline is valid? [True, True] Translation: X:11.96, Y:0.58, Z:-0.23 [[ 9.99628856e-01 -2.55857315e-02 9.35528702e-03 1.19633871e+01] [ 2.55811464e-02 9.99672563e-01 6.09466003e-04 5.77492297e-01] [-9.36781739e-03 -3.69920836e-04 9.99956053e-01 -2.30823841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504391417999999 meters 0.032083873640878245 Centerline is valid? [True, True] Translation: X:12.02, Y:0.58, Z:-0.23 [[ 9.99514503e-01 -2.98577584e-02 8.90351616e-03 1.20249215e+01] [ 2.98537858e-02 9.99554109e-01 5.78779040e-04 5.79385388e-01] [-8.91682721e-03 -3.12694380e-04 9.99960195e-01 -2.31427215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564391418 meters 0.028655885173985932 Centerline is valid? [True, True] Translation: X:12.09, Y:0.58, Z:-0.23 [[ 9.99359211e-01 -3.41970838e-02 1.05701321e-02 1.20870919e+01] [ 3.41917314e-02 9.99415056e-01 6.86725369e-04 5.78222151e-01] [-1.05874332e-02 -3.24874205e-04 9.99943899e-01 -2.30319563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624391417999998 meters 0.026897056812189568 Centerline is valid? [True, True] Translation: X:12.15, Y:0.58, Z:-0.23 [[ 9.99223292e-01 -3.81272687e-02 9.95613843e-03 1.21481015e+01] [ 3.81227234e-02 9.99272856e-01 6.45990837e-04 5.77298047e-01] [-9.97352875e-03 -2.65933980e-04 9.99950228e-01 -2.32841376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684391417999999 meters 0.026740194052115276 Centerline is valid? [True, True] Translation: X:12.21, Y:0.58, Z:-0.24 [[ 9.99201070e-01 -3.89809776e-02 8.81500921e-03 1.22099261e+01] [ 3.89774453e-02 9.99239927e-01 5.72218920e-04 5.79412142e-01] [-8.83061481e-03 -2.28175218e-04 9.99960983e-01 -2.36004762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744391418 meters 0.025744344593924405 Centerline is valid? [True, True] Translation: X:12.27, Y:0.58, Z:-0.24 [[ 9.99141763e-01 -4.07533372e-02 7.40959182e-03 1.22728252e+01] [ 4.07508921e-02 9.99169222e-01 4.80736207e-04 5.76171294e-01] [-7.42302770e-03 -1.78376145e-04 9.99972433e-01 -2.39775220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804391417999998 meters 0.024721068899120062 Centerline is valid? [True, True] Translation: X:12.34, Y:0.57, Z:-0.24 [[ 9.98982473e-01 -4.48027752e-02 5.17003239e-03 1.23356477e+01] [ 4.48016348e-02 9.98995846e-01 3.36253240e-04 5.74718369e-01] [-5.17990596e-03 -1.04285191e-04 9.99986579e-01 -2.44110882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864391417999999 meters 0.01979883825594633 Centerline is valid? [True, True] Translation: X:12.40, Y:0.57, Z:-0.24 [[ 9.98728617e-01 -5.02211747e-02 4.35698305e-03 1.23984410e+01] [ 5.02204196e-02 9.98738119e-01 2.82595069e-04 5.70674530e-01] [-4.36567732e-03 -6.34262655e-05 9.99990468e-01 -2.41401008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924391417999999 meters 0.018993920180236032 Centerline is valid? [True, True] Translation: X:12.46, Y:0.56, Z:-0.24 [[ 9.98074069e-01 -6.17176394e-02 6.25183762e-03 1.24606815e+01] [ 6.17163218e-02 9.98093649e-01 4.03643811e-04 5.63133835e-01] [-6.26483136e-03 -1.70259993e-05 9.99980376e-01 -2.44126888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984391418 meters 0.017492120412906497 Centerline is valid? [True, True] Translation: X:12.52, Y:0.56, Z:-0.24 [[ 9.97483085e-01 -7.06793321e-02 5.65040906e-03 1.25227332e+01] [ 7.06784008e-02 9.97499088e-01 3.64575511e-04 5.60271557e-01] [-5.66204584e-03 3.57039705e-05 9.99983970e-01 -2.43648059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044391417999998 meters 0.023087224096219192 Centerline is valid? [True, True] Translation: X:12.58, Y:0.55, Z:-0.25 [[ 9.96465523e-01 -8.38770096e-02 4.59436894e-03 1.25838248e+01] [ 8.38765378e-02 9.96476111e-01 2.95609943e-04 5.49618656e-01] [-4.60297377e-03 9.07946429e-05 9.99989402e-01 -2.48817824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104391417999999 meters 0.026025660428345226 Centerline is valid? [True, True] Translation: X:12.64, Y:0.55, Z:-0.25 [[ 9.95762562e-01 -9.18516096e-02 4.49471635e-03 1.26439904e+01] [ 9.18512430e-02 9.95772698e-01 2.88350204e-04 5.47698023e-01] [-4.50220126e-03 1.25716946e-04 9.99989857e-01 -2.47801508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164391418 meters 0.030397219620485656 Centerline is valid? [True, True] Translation: X:12.70, Y:0.55, Z:-0.25 [[ 9.95282194e-01 -9.65812563e-02 9.24206707e-03 1.27033382e+01] [ 9.65799060e-02 9.95325057e-01 5.93339516e-04 5.52813534e-01] [-9.25616641e-03 3.02057714e-04 9.99957115e-01 -2.46514242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224391417999998 meters 0.029212522143652973 Centerline is valid? [True, True] Translation: X:12.76, Y:0.56, Z:-0.24 [[ 9.95226429e-01 -9.70013499e-02 1.07281805e-02 1.27641745e+01] [ 9.69995384e-02 9.95284187e-01 6.90287805e-04 5.60133091e-01] [-1.07445472e-02 3.53635889e-04 9.99942213e-01 -2.43752687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284391417999998 meters 0.02933216412588763 Centerline is valid? [True, True] Translation: X:12.82, Y:0.57, Z:-0.25 [[ 9.95502398e-01 -9.41143093e-02 1.08384947e-02 1.28243617e+01] [ 9.41122944e-02 9.95561344e-01 6.96922967e-04 5.73666216e-01] [-1.08559768e-02 3.26247120e-04 9.99941019e-01 -2.48430649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344391417999999 meters 0.028191813935639794 Centerline is valid? [True, True] Translation: X:12.88, Y:0.59, Z:-0.25 [[ 9.95817390e-01 -9.08304157e-02 9.87734465e-03 1.28844306e+01] [ 9.08285842e-02 9.95866339e-01 6.34784272e-04 5.90725585e-01] [-9.89417277e-03 2.65016013e-04 9.99951016e-01 -2.51629023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404391418 meters 0.02372607518552936 Centerline is valid? [True, True] Translation: X:12.95, Y:0.61, Z:-0.25 [[ 9.95885669e-01 -9.01292539e-02 9.40483775e-03 1.29461962e+01] [ 9.01275596e-02 9.95930046e-01 6.04684278e-04 6.07510490e-01] [-9.42106024e-03 2.45438667e-04 9.99955591e-01 -2.48652041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464391417999998 meters 0.0271036375900162 Centerline is valid? [True, True] Translation: X:13.01, Y:0.62, Z:-0.25 [[ 9.95836826e-01 -9.05065490e-02 1.08434323e-02 1.30071621e+01] [ 9.05043329e-02 9.95895819e-01 6.95914037e-04 6.22158254e-01] [-1.08619137e-02 2.88360781e-04 9.99940966e-01 -2.53258651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524391417999999 meters 0.026510094351561098 Centerline is valid? [True, True] Translation: X:13.07, Y:0.63, Z:-0.25 [[ 9.95771839e-01 -9.11600440e-02 1.13265695e-02 1.30688870e+01] [ 9.11576804e-02 9.95836207e-01 7.25844880e-04 6.28370409e-01] [-1.13455761e-02 3.09727916e-04 9.99935589e-01 -2.53358333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584391418 meters 0.028754667633172606 Centerline is valid? [True, True] Translation: X:13.13, Y:0.64, Z:-0.26 [[ 9.95600268e-01 -9.30153896e-02 1.13244461e-02 1.31305392e+01] [ 9.30131579e-02 9.95664616e-01 7.24740878e-04 6.42043999e-01] [-1.13427623e-02 3.31770281e-04 9.99935614e-01 -2.56055520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644391417999998 meters 0.029040802438377047 Centerline is valid? [True, True] Translation: X:13.19, Y:0.65, Z:-0.26 [[ 9.95543841e-01 -9.36299329e-02 1.12203429e-02 1.31923483e+01] [ 9.36277915e-02 9.95607012e-01 7.17140695e-04 6.53111576e-01] [-1.12381979e-02 3.36590921e-04 9.99936793e-01 -2.57567017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704391417999998 meters 0.0237867751610618 Centerline is valid? [True, True] Translation: X:13.25, Y:0.68, Z:-0.25 [[ 9.95716074e-01 -9.14165678e-02 1.38748206e-02 1.32534646e+01] [ 9.14131000e-02 9.95812664e-01 8.85265361e-04 6.75756116e-01] [-1.38976500e-02 3.86867411e-04 9.99903348e-01 -2.50904939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764391417999999 meters 0.025331121902385238 Centerline is valid? [True, True] Translation: X:13.31, Y:0.69, Z:-0.25 [[ 9.96056302e-01 -8.72934995e-02 1.58647083e-02 1.33133930e+01] [ 8.72884758e-02 9.96182564e-01 1.01015886e-03 6.87869048e-01] [-1.58923261e-02 3.78631100e-04 9.99873637e-01 -2.53376721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824391418 meters 0.01942745141466028 Centerline is valid? [True, True] Translation: X:13.37, Y:0.71, Z:-0.25 [[ 9.96586820e-01 -8.04565911e-02 1.84783128e-02 1.33731405e+01] [ 8.04486078e-02 9.96758064e-01 1.17618056e-03 7.13957328e-01] [-1.85130388e-02 3.14388496e-04 9.99828570e-01 -2.49362278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884391417999998 meters 0.019981578009386658 Centerline is valid? [True, True] Translation: X:13.43, Y:0.74, Z:-0.25 [[ 9.97155772e-01 -7.30158187e-02 1.86830738e-02 1.34331266e+01] [ 7.30063659e-02 9.97330767e-01 1.18841441e-03 7.39021742e-01] [-1.87199773e-02 1.78949038e-04 9.99824750e-01 -2.53376320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944391417999999 meters 0.018888674043834913 Centerline is valid? [True, True] Translation: X:13.49, Y:0.75, Z:-0.25 [[ 9.97424357e-01 -6.91242712e-02 1.91438534e-02 1.34949620e+01] [ 6.91136434e-02 9.97608051e-01 1.21700381e-03 7.53008203e-01] [-1.91821868e-02 1.09232220e-04 9.99815999e-01 -2.54947515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004391417999999 meters 0.018069802662355895 Centerline is valid? [True, True] Translation: X:13.56, Y:0.77, Z:-0.26 [[ 9.97798761e-01 -6.34179583e-02 1.93854173e-02 1.35557756e+01] [ 6.34060155e-02 9.97987055e-01 1.23070494e-03 7.74629417e-01] [-1.94244443e-02 1.15620710e-06 9.99811328e-01 -2.55361087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064391417999998 meters 0.01880265854910389 Centerline is valid? [True, True] Translation: X:13.62, Y:0.79, Z:-0.26 [[ 9.98032802e-01 -6.00162673e-02 1.81266129e-02 1.36175167e+01] [ 6.00052891e-02 9.98197397e-01 1.14941769e-03 7.89076128e-01] [-1.81629216e-02 -5.94639105e-05 9.99835039e-01 -2.58601858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124391417999998 meters 0.016296621964217613 Centerline is valid? [True, True] Translation: X:13.68, Y:0.81, Z:-0.26 [[ 9.98267375e-01 -5.57219772e-02 1.89026199e-02 1.36781166e+01] [ 5.57092904e-02 9.98446314e-01 1.19748771e-03 8.07556359e-01] [-1.89399775e-02 -1.42361375e-04 9.99820612e-01 -2.56418057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184391417999999 meters 0.018493590820322165 Centerline is valid? [True, True] Translation: X:13.74, Y:0.82, Z:-0.26 [[ 9.98443420e-01 -5.25106965e-02 1.87979845e-02 1.37398338e+01] [ 5.24976891e-02 9.98620342e-01 1.18510233e-03 8.19341002e-01] [-1.88342803e-02 -1.96406873e-04 9.99822600e-01 -2.59684766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244391418 meters 0.018733462472786636 Centerline is valid? [True, True] Translation: X:13.80, Y:0.83, Z:-0.26 [[ 9.98516375e-01 -5.05835672e-02 2.01581580e-02 1.38010384e+01] [ 5.05682462e-02 9.98719801e-01 1.26937401e-03 8.30021027e-01] [-2.01965610e-02 -2.48128041e-04 9.99795998e-01 -2.60251736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304391417999998 meters 0.018638870284004093 Centerline is valid? [True, True] Translation: X:13.86, Y:0.84, Z:-0.26 [[ 9.98568415e-01 -4.90828831e-02 2.12600604e-02 1.38623185e+01] [ 4.90656558e-02 9.98794668e-01 1.33150049e-03 8.41239277e-01] [-2.12997889e-02 -2.86455531e-04 9.99773093e-01 -2.60866566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364391417999999 meters 0.017545333086601077 Centerline is valid? [True, True] Translation: X:13.92, Y:0.85, Z:-0.26 [[ 9.98512013e-01 -4.98517217e-02 2.21035218e-02 1.39229722e+01] [ 4.98334475e-02 9.98756592e-01 1.37714614e-03 8.50525096e-01] [-2.21446913e-02 -2.73602266e-04 9.99754739e-01 -2.61063744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424391417999999 meters 0.018718230975431755 Centerline is valid? [True, True] Translation: X:13.99, Y:0.86, Z:-0.26 [[ 9.98475601e-01 -5.07834281e-02 2.16221557e-02 1.39851114e+01] [ 5.07662267e-02 9.98709659e-01 1.34406322e-03 8.58661114e-01] [-2.16625119e-02 -2.44339075e-04 9.99765310e-01 -2.63441530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484391417999998 meters 0.017561157290236863 Centerline is valid? [True, True] Translation: X:14.05, Y:0.86, Z:-0.27 [[ 9.98391109e-01 -5.26951254e-02 2.09384269e-02 1.40469661e+01] [ 5.26795228e-02 9.98610628e-01 1.29642697e-03 8.63499324e-01] [-2.09776510e-02 -1.91314823e-04 9.99779927e-01 -2.66032934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544391417999998 meters 0.017202533448635395 Centerline is valid? [True, True] Translation: X:14.11, Y:0.87, Z:-0.27 [[ 9.98306261e-01 -5.48335614e-02 1.94393994e-02 1.41091440e+01] [ 5.48206051e-02 9.98495500e-01 1.19916209e-03 8.66839780e-01] [-1.94759071e-02 -1.31451383e-04 9.99810318e-01 -2.69277412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604391417999999 meters 0.018179742479209178 Centerline is valid? [True, True] Translation: X:14.17, Y:0.88, Z:-0.27 [[ 9.98435154e-01 -5.24202067e-02 1.94773176e-02 1.41709370e+01] [ 5.24068471e-02 9.98625101e-01 1.19604846e-03 8.76848552e-01] [-1.95132354e-02 -1.73432025e-04 9.99809584e-01 -2.70291546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664391418 meters 0.016546101205780882 Centerline is valid? [True, True] Translation: X:14.23, Y:0.89, Z:-0.27 [[ 9.98493236e-01 -5.04637472e-02 2.15561739e-02 1.42324324e+01] [ 5.04470746e-02 9.98725868e-01 1.31688457e-03 8.85177396e-01] [-2.15951635e-02 -2.27454421e-04 9.99766771e-01 -2.68370587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724391417999998 meters 0.016333624758043046 Centerline is valid? [True, True] Translation: X:14.30, Y:0.89, Z:-0.27 [[ 9.98505619e-01 -4.93662201e-02 2.34415351e-02 1.42954767e+01] [ 4.93463812e-02 9.98780710e-01 1.42437245e-03 8.90185876e-01] [-2.34832689e-02 -2.65488972e-04 9.99724195e-01 -2.68533068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784391417999998 meters 0.018519269320031995 Centerline is valid? [True, True] Translation: X:14.36, Y:0.89, Z:-0.27 [[ 9.98461868e-01 -5.06618204e-02 2.25228375e-02 1.43571606e+01] [ 5.06439955e-02 9.98715842e-01 1.36147385e-03 8.94475783e-01] [-2.25628894e-02 -2.18733237e-04 9.99745402e-01 -2.71601429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844391417999999 meters 0.017866494682949218 Centerline is valid? [True, True] Translation: X:14.42, Y:0.90, Z:-0.27 [[ 9.98316392e-01 -5.33794375e-02 2.26940041e-02 1.44183465e+01] [ 5.33621889e-02 9.98574290e-01 1.36538572e-03 8.97066846e-01] [-2.27345325e-02 -1.52085212e-04 9.99741526e-01 -2.73296828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904391417999998 meters 0.018443683201609447 Centerline is valid? [True, True] Translation: X:14.48, Y:0.90, Z:-0.28 [[ 9.98115451e-01 -5.76810645e-02 2.09389755e-02 1.44805518e+01] [ 5.76674303e-02 9.98335060e-01 1.25487545e-03 8.95944766e-01] [-2.09764959e-02 -4.50136657e-05 9.99779968e-01 -2.78195316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964391417999998 meters 0.018389729960351937 Centerline is valid? [True, True] Translation: X:14.54, Y:0.90, Z:-0.28 [[ 9.97920605e-01 -6.13928735e-02 1.96311506e-02 1.45438590e+01] [ 6.13817048e-02 9.98113678e-01 1.17154432e-03 8.97258745e-01] [-1.96660444e-02 3.58852730e-05 9.99806604e-01 -2.81245595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024391417999997 meters 0.015670534755818658 Centerline is valid? [True, True] Translation: X:14.61, Y:0.90, Z:-0.28 [[ 9.97561608e-01 -6.71397275e-02 1.90550764e-02 1.46064403e+01] [ 6.71303641e-02 9.97743571e-01 1.13132885e-03 8.99161179e-01] [-1.90880371e-02 1.50603993e-04 9.99817795e-01 -2.80864615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084391418 meters 0.017546338120772918 Centerline is valid? [True, True] Translation: X:14.67, Y:0.90, Z:-0.28 [[ 9.97344311e-01 -7.05414555e-02 1.81170711e-02 1.46688017e+01] [ 7.05336355e-02 9.97508827e-01 1.07105707e-03 8.99682222e-01] [-1.81474923e-02 2.09650214e-04 9.99835299e-01 -2.84848177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144391417999998 meters 0.019570812863940978 Centerline is valid? [True, True] Translation: X:14.73, Y:0.90, Z:-0.28 [[ 9.96879410e-01 -7.64058110e-02 1.98391870e-02 1.47297779e+01] [ 7.63977195e-02 9.97076741e-01 1.16655150e-03 8.98913739e-01] [-1.98703232e-02 3.52757466e-04 9.99802503e-01 -2.84061146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204391418 meters 0.023143436646716076 Centerline is valid? [True, True] Translation: X:14.79, Y:0.90, Z:-0.28 [[ 9.96531264e-01 -8.05557390e-02 2.08856966e-02 1.47908404e+01] [ 8.05476947e-02 9.96750000e-01 1.22748306e-03 9.01302010e-01] [-2.09166989e-02 4.59069468e-04 9.99781117e-01 -2.84143370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264391418 meters 0.024218207591159134 Centerline is valid? [True, True] Translation: X:14.85, Y:0.90, Z:-0.28 [[ 9.96164869e-01 -8.47980721e-02 2.15601616e-02 1.48530553e+01] [ 8.47906085e-02 9.96397993e-01 1.26174460e-03 9.00743577e-01] [-2.15894952e-02 5.71193580e-04 9.99766757e-01 -2.84630991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324391417999998 meters 0.028110469906462866 Centerline is valid? [True, True] Translation: X:14.91, Y:0.90, Z:-0.29 [[ 9.95617236e-01 -9.10350132e-02 2.14230090e-02 1.49141440e+01] [ 9.10291198e-02 9.95847444e-01 1.25213501e-03 8.98586365e-01] [-2.14480369e-02 7.03470461e-04 9.99769717e-01 -2.86087592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384391418 meters 0.030612746612353726 Centerline is valid? [True, True] Translation: X:14.98, Y:0.90, Z:-0.29 [[ 9.95294287e-01 -9.48588782e-02 1.97756411e-02 1.49751017e+01] [ 9.48546153e-02 9.95490465e-01 1.15556822e-03 9.02064156e-01] [-1.97960781e-02 7.25680386e-04 9.99803775e-01 -2.90309828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444391418 meters 0.030739448616909023 Centerline is valid? [True, True] Translation: X:15.04, Y:0.90, Z:-0.29 [[ 9.95029923e-01 -9.73552874e-02 2.09141017e-02 1.50374467e+01] [ 9.73510865e-02 9.95249353e-01 1.22131396e-03 9.04368526e-01] [-2.09336475e-02 8.20766583e-04 9.99780530e-01 -2.89180246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504391417999997 meters 0.03725685564421876 Centerline is valid? [True, True] Translation: X:15.10, Y:0.90, Z:-0.29 [[ 9.94638803e-01 -1.01378970e-01 2.03949946e-02 1.50977384e+01] [ 1.01375851e-01 9.94847487e-01 1.18940339e-03 9.00256587e-01] [-2.04104896e-02 8.84533168e-04 9.99791293e-01 -2.91948103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564391418 meters 0.0363737600267753 Centerline is valid? [True, True] Translation: X:15.16, Y:0.91, Z:-0.29 [[ 9.94527612e-01 -1.02719358e-01 1.90673227e-02 1.51597853e+01] [ 1.02716864e-01 9.94710012e-01 1.11270678e-03 9.08150435e-01] [-1.90807533e-02 8.51917965e-04 9.99817583e-01 -2.93776462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624391418 meters 0.030252073199199897 Centerline is valid? [True, True] Translation: X:15.22, Y:0.93, Z:-0.30 [[ 9.94634231e-01 -1.01929432e-01 1.76957006e-02 1.52212899e+01] [ 1.01927227e-01 9.94791326e-01 1.02881895e-03 9.27292693e-01] [-1.77083964e-02 7.80375137e-04 9.99842890e-01 -2.96724995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684391417999997 meters 0.03007608645534023 Centerline is valid? [True, True] Translation: X:15.28, Y:0.93, Z:-0.30 [[ 9.94575064e-01 -1.02184579e-01 1.94615955e-02 1.52839426e+01] [ 1.02182081e-01 9.94765076e-01 1.12533081e-03 9.30764066e-01] [-1.94747070e-02 8.69400353e-04 9.99809972e-01 -2.96045554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744391418 meters 0.030816447776645293 Centerline is valid? [True, True] Translation: X:15.35, Y:0.94, Z:-0.30 [[ 9.94667040e-01 -1.00984479e-01 2.09669798e-02 1.53455657e+01] [ 1.00981448e-01 9.94887578e-01 1.20600332e-03 9.37780372e-01] [-2.09815754e-02 9.17704233e-04 9.99779441e-01 -2.95322579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804391417999998 meters 0.031228292013885037 Centerline is valid? [True, True] Translation: X:15.41, Y:0.94, Z:-0.30 [[ 9.94747630e-01 -1.00056778e-01 2.15822575e-02 1.54074297e+01] [ 1.00053481e-01 9.94981294e-01 1.23525341e-03 9.43842434e-01] [-2.15975379e-02 9.30614585e-04 9.99766313e-01 -2.95555523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864391417999997 meters 0.03109634901187614 Centerline is valid? [True, True] Translation: X:15.47, Y:0.95, Z:-0.30 [[ 9.94721636e-01 -1.00702483e-01 1.96945855e-02 1.54692799e+01] [ 1.00699958e-01 9.94916207e-01 1.12240937e-03 9.49442514e-01] [-1.97074917e-02 8.66759037e-04 9.99805413e-01 -3.00518016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924391418 meters 0.03474367254522484 Centerline is valid? [True, True] Translation: X:15.53, Y:0.95, Z:-0.30 [[ 9.94536313e-01 -1.02465335e-01 1.99593748e-02 1.55308779e+01] [ 1.02463210e-01 9.94736151e-01 1.13180445e-03 9.46713717e-01] [-1.99702824e-02 9.19480977e-04 9.99800151e-01 -3.01324869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984391417999998 meters 0.034546547229145894 Centerline is valid? [True, True] Translation: X:15.59, Y:0.96, Z:-0.30 [[ 9.94330450e-01 -1.04643825e-01 1.88845275e-02 1.55924602e+01] [ 1.04642410e-01 9.94509341e-01 1.06580239e-03 9.55695569e-01] [-1.88923686e-02 9.16362695e-04 9.99821103e-01 -3.02924055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044391418 meters 0.03614761520142716 Centerline is valid? [True, True] Translation: X:15.65, Y:0.96, Z:-0.30 [[ 9.94226809e-01 -1.05582042e-01 1.91176392e-02 1.56540839e+01] [ 1.05580784e-01 9.94410145e-01 1.07795061e-03 9.58758440e-01] [-1.91245866e-02 9.46727927e-04 9.99816660e-01 -3.04595943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104391418 meters 0.03530137243457369 Centerline is valid? [True, True] Translation: X:15.72, Y:0.96, Z:-0.31 [[ 9.94275920e-01 -1.05103128e-01 1.92023022e-02 1.57166717e+01] [ 1.05101859e-01 9.94460878e-01 1.07805510e-03 9.63193271e-01] [-1.92092452e-02 9.46313431e-04 9.99815038e-01 -3.06624115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164391417999997 meters 0.030853825397487922 Centerline is valid? [True, True] Translation: X:15.78, Y:0.98, Z:-0.30 [[ 9.94417218e-01 -1.03468260e-01 2.07054579e-02 1.57785678e+01] [ 1.03466576e-01 9.94632260e-01 1.15548685e-03 9.77341769e-01] [-2.07138726e-02 9.93286817e-04 9.99784951e-01 -3.04629004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224391418 meters 0.03322871013638797 Centerline is valid? [True, True] Translation: X:15.84, Y:0.98, Z:-0.31 [[ 9.94582584e-01 -1.01737935e-01 2.13278456e-02 1.58400254e+01] [ 1.01735886e-01 9.94810740e-01 1.18391914e-03 9.79436988e-01] [-2.13376194e-02 9.92301919e-04 9.99771835e-01 -3.06255385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284391418 meters 0.030718450776789558 Centerline is valid? [True, True] Translation: X:15.90, Y:0.99, Z:-0.31 [[ 9.94701412e-01 -1.00746065e-01 2.04775935e-02 1.59022900e+01] [ 1.00744070e-01 9.94911731e-01 1.13164931e-03 9.85509377e-01] [-2.04874072e-02 9.37342945e-04 9.99789672e-01 -3.09513211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344391417999997 meters 0.028596638192549373 Centerline is valid? [True, True] Translation: X:15.96, Y:0.99, Z:-0.31 [[ 9.94783631e-01 -9.99893215e-02 2.01906884e-02 1.59647071e+01] [ 9.99873446e-02 9.94988090e-01 1.10993477e-03 9.93019088e-01] [-2.02004761e-02 9.14668382e-04 9.99795531e-01 -3.09941644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404391418 meters 0.02858471984715524 Centerline is valid? [True, True] Translation: X:16.03, Y:1.00, Z:-0.31 [[ 9.94931528e-01 -9.85473134e-02 1.99920546e-02 1.60266484e+01] [ 9.85451414e-02 9.95131978e-01 1.09618062e-03 9.99112433e-01] [-2.00027585e-02 8.79495190e-04 9.99799538e-01 -3.11089224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464391417999998 meters 0.028699036798007737 Centerline is valid? [True, True] Translation: X:16.09, Y:1.00, Z:-0.31 [[ 9.95092798e-01 -9.68319838e-02 2.03443017e-02 1.60887089e+01] [ 9.68294975e-02 9.95300365e-01 1.10956491e-03 1.00187226e+00] [-2.03561323e-02 8.65808457e-04 9.99792418e-01 -3.13363298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524391417999997 meters 0.028942604053427516 Centerline is valid? [True, True] Translation: X:16.15, Y:1.01, Z:-0.31 [[ 9.95174953e-01 -9.59382267e-02 2.05589406e-02 1.61507690e+01] [ 9.59356180e-02 9.95386916e-01 1.11540426e-03 1.00609207e+00] [-2.05711104e-02 8.62312291e-04 9.99788020e-01 -3.14591581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584391418 meters 0.029302900626559502 Centerline is valid? [True, True] Translation: X:16.21, Y:1.01, Z:-0.32 [[ 9.95182950e-01 -9.60321866e-02 1.97158755e-02 1.62125387e+01] [ 9.60299090e-02 9.95377880e-01 1.06443315e-03 1.01145273e+00] [-1.97269662e-02 8.34008007e-04 9.99805057e-01 -3.15948932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644391417999998 meters 0.03223322714679532 Centerline is valid? [True, True] Translation: X:16.27, Y:1.01, Z:-0.32 [[ 9.94963553e-01 -9.81057481e-02 2.05618811e-02 1.62745418e+01] [ 9.81038410e-02 9.95175571e-01 1.10387048e-03 1.00984582e+00] [-2.05709778e-02 9.18888613e-04 9.99787973e-01 -3.19344850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704391417999997 meters 0.03265323550372244 Centerline is valid? [True, True] Translation: X:16.34, Y:1.01, Z:-0.32 [[ 9.94469784e-01 -1.02596083e-01 2.24475456e-02 1.63359159e+01] [ 1.02594994e-01 9.94722484e-01 1.20320330e-03 1.00944388e+00] [-2.24525223e-02 1.10645649e-03 9.99747298e-01 -3.18606170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764391418 meters 0.03650837356636327 Centerline is valid? [True, True] Translation: X:16.40, Y:1.01, Z:-0.32 [[ 9.94093932e-01 -1.06699864e-01 1.98089282e-02 1.63965113e+01] [ 1.06699843e-01 9.94290711e-01 1.06101766e-03 1.00960820e+00] [-1.98090437e-02 1.05885831e-03 9.99803221e-01 -3.23035916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824391417999998 meters 0.03682706683720928 Centerline is valid? [True, True] Translation: X:16.46, Y:1.01, Z:-0.32 [[ 9.93760514e-01 -1.09833488e-01 1.94073458e-02 1.64577015e+01] [ 1.09834079e-01 9.93949393e-01 1.03864353e-03 1.01057374e+00] [-1.94039975e-02 1.09942503e-03 9.99811120e-01 -3.23203203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884391418 meters 0.039533296669409516 Centerline is valid? [True, True] Translation: X:16.52, Y:1.01, Z:-0.33 [[ 9.93484287e-01 -1.12262080e-01 1.96518874e-02 1.65189379e+01] [ 1.12263166e-01 9.93677954e-01 1.05142401e-03 1.00704253e+00] [-1.96456823e-02 1.16160987e-03 9.99806330e-01 -3.27659121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944391418 meters 0.04177686004899167 Centerline is valid? [True, True] Translation: X:16.58, Y:1.01, Z:-0.33 [[ 9.93156634e-01 -1.14828529e-01 2.13145330e-02 1.65799954e+01] [ 1.14830425e-01 9.93384455e-01 1.13899598e-03 1.00592633e+00] [-2.13043150e-02 1.31635548e-03 9.99772171e-01 -3.25408009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004391417999997 meters 0.041620974591697744 Centerline is valid? [True, True] Translation: X:16.64, Y:1.01, Z:-0.33 [[ 9.93165357e-01 -1.14616404e-01 2.20375610e-02 1.66432990e+01] [ 1.14618389e-01 9.93408898e-01 1.17718104e-03 1.00929344e+00] [-2.20272335e-02 1.35677431e-03 9.99756450e-01 -3.25285304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064391418 meters 0.03945936139300036 Centerline is valid? [True, True] Translation: X:16.70, Y:1.01, Z:-0.33 [[ 9.93411601e-01 -1.12696055e-01 2.08084078e-02 1.67044166e+01] [ 1.12697540e-01 9.93628725e-01 1.10502879e-03 1.01358323e+00] [-2.08003641e-02 1.24730795e-03 9.99782871e-01 -3.30549270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124391418 meters 0.03825238733432628 Centerline is valid? [True, True] Translation: X:16.77, Y:1.02, Z:-0.33 [[ 9.93673941e-01 -1.10538692e-01 1.98317119e-02 1.67656619e+01] [ 1.10539628e-01 9.93871160e-01 1.05239886e-03 1.01708667e+00] [-1.98264973e-02 1.14644873e-03 9.99802778e-01 -3.32995089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184391417999997 meters 0.031151693277011627 Centerline is valid? [True, True] Translation: X:16.83, Y:1.03, Z:-0.33 [[ 9.94321582e-01 -1.04384134e-01 2.07013028e-02 1.68254422e+01] [ 1.04383842e-01 9.94536479e-01 1.09761996e-03 1.03155086e+00] [-2.07027749e-02 1.06949431e-03 9.99785103e-01 -3.29671157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244391418 meters 0.026961357213579146 Centerline is valid? [True, True] Translation: X:16.88, Y:1.04, Z:-0.33 [[ 9.95652786e-01 -9.08590011e-02 2.04980654e-02 1.68849622e+01] [ 9.08558537e-02 9.95863461e-01 1.08670360e-03 1.04139321e+00] [-2.05120111e-02 7.80389761e-04 9.99789302e-01 -3.32276421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304391417999998 meters 0.0213147850125906 Centerline is valid? [True, True] Translation: X:16.94, Y:1.06, Z:-0.33 [[ 9.96626344e-01 -7.91167749e-02 2.18280877e-02 1.69445676e+01] [ 7.91103850e-02 9.96865190e-01 1.15745724e-03 1.05519389e+00] [-2.18512351e-02 5.73276037e-04 9.99761069e-01 -3.33712004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364391417999997 meters 0.0194371014482196 Centerline is valid? [True, True] Translation: X:17.01, Y:1.06, Z:-0.33 [[ 9.97096646e-01 -7.27884762e-02 2.23632815e-02 1.70054724e+01] [ 7.27801824e-02 9.97347301e-01 1.18562820e-03 1.06412766e+00] [-2.23902585e-02 4.45417798e-04 9.99749208e-01 -3.33926259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424391418 meters 0.01563874844619333 Centerline is valid? [True, True] Translation: X:17.06, Y:1.09, Z:-0.33 [[ 9.98213349e-01 -5.46939126e-02 2.40558942e-02 1.70648724e+01] [ 5.46790802e-02 9.98503167e-01 1.27441441e-03 1.08595288e+00] [-2.40895893e-02 4.32166898e-05 9.99709803e-01 -3.33599281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484391417999998 meters 0.018185274318909275 Centerline is valid? [True, True] Translation: X:17.13, Y:1.10, Z:-0.34 [[ 9.98785420e-01 -4.33145405e-02 2.34847706e-02 1.71258449e+01] [ 4.32972663e-02 9.99061459e-01 1.24377162e-03 1.09767686e+00] [-2.35166026e-02 -2.25434597e-04 9.99723421e-01 -3.37230722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544391417999996 meters 0.01971755430743475 Centerline is valid? [True, True] Translation: X:17.19, Y:1.11, Z:-0.34 [[ 9.99190752e-01 -3.32103279e-02 2.26917371e-02 1.71868207e+01] [ 3.31917233e-02 9.99448287e-01 1.19613601e-03 1.10872826e+00] [-2.27189419e-02 -4.41990185e-04 9.99741794e-01 -3.39310078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604391418 meters 0.019841711899518638 Centerline is valid? [True, True] Translation: X:17.25, Y:1.11, Z:-0.34 [[ 9.99300780e-01 -3.00680702e-02 2.22230047e-02 1.72493022e+01] [ 3.00494702e-02 9.99547727e-01 1.17050760e-03 1.11289432e+00] [-2.22481487e-02 -5.01899637e-04 9.99752353e-01 -3.41190521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664391417999997 meters 0.020066248716203876 Centerline is valid? [True, True] Translation: X:17.31, Y:1.11, Z:-0.34 [[ 9.99300887e-01 -3.05478079e-02 2.15538429e-02 1.73108363e+01] [ 3.05305514e-02 9.99533196e-01 1.12931246e-03 1.11493837e+00] [-2.15782795e-02 -4.70472236e-04 9.99767051e-01 -3.43237767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724391418 meters 0.01967132930172249 Centerline is valid? [True, True] Translation: X:17.37, Y:1.11, Z:-0.35 [[ 9.99305167e-01 -3.04710456e-02 2.14638891e-02 1.73742010e+01] [ 3.04540336e-02 9.99535542e-01 1.11909001e-03 1.11390881e+00] [-2.14880199e-02 -4.64650426e-04 9.99768998e-01 -3.45703365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784391418 meters 0.020490631808138857 Centerline is valid? [True, True] Translation: X:17.44, Y:1.12, Z:-0.35 [[ 9.99353822e-01 -2.87881657e-02 2.15216159e-02 1.74366248e+01] [ 2.87708194e-02 9.99585412e-01 1.11525873e-03 1.11582995e+00] [-2.15447996e-02 -4.95343545e-04 9.99767761e-01 -3.47255558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844391417999997 meters 0.022120965994977496 Centerline is valid? [True, True] Translation: X:17.50, Y:1.12, Z:-0.35 [[ 9.99403332e-01 -2.60149238e-02 2.27201376e-02 1.74977329e+01] [ 2.59950311e-02 9.99661387e-01 1.17050734e-03 1.11960890e+00] [-2.27428949e-02 -5.79198254e-04 9.99741179e-01 -3.47620403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904391418 meters 0.02318380870720736 Centerline is valid? [True, True] Translation: X:17.56, Y:1.12, Z:-0.35 [[ 9.99430700e-01 -2.43306373e-02 2.33729809e-02 1.75599666e+01] [ 2.43092722e-02 9.99703768e-01 1.19783200e-03 1.11687113e+00] [-2.33952011e-02 -6.28969924e-04 9.99726097e-01 -3.50270619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964391417999998 meters 0.02199483464930637 Centerline is valid? [True, True] Translation: X:17.62, Y:1.12, Z:-0.35 [[ 9.99421438e-01 -2.48586546e-02 2.32128382e-02 1.76227440e+01] [ 2.48378731e-02 9.99690792e-01 1.18319172e-03 1.11625097e+00] [-2.32350732e-02 -6.05949637e-04 9.99729846e-01 -3.51928027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024391417999997 meters 0.020195843787713913 Centerline is valid? [True, True] Translation: X:17.68, Y:1.12, Z:-0.35 [[ 9.99393663e-01 -2.66413710e-02 2.24174723e-02 1.76849087e+01] [ 2.66225739e-02 9.99644910e-01 1.13658099e-03 1.11598034e+00] [-2.24397922e-02 -5.39081028e-04 9.99748051e-01 -3.53719806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084391418 meters 0.020079350064576517 Centerline is valid? [True, True] Translation: X:17.75, Y:1.11, Z:-0.36 [[ 9.99299121e-01 -3.04053632e-02 2.18352898e-02 1.77469291e+01] [ 3.03885574e-02 9.99537555e-01 1.10113943e-03 1.10986161e+00] [-2.18586727e-02 -4.36824714e-04 9.99760975e-01 -3.57269894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144391417999998 meters 0.01784860527696691 Centerline is valid? [True, True] Translation: X:17.81, Y:1.10, Z:-0.36 [[ 9.99103902e-01 -3.51157521e-02 2.36278967e-02 1.78100903e+01] [ 3.50975476e-02 9.99383189e-01 1.18484875e-03 1.10471664e+00] [-2.36549296e-02 -3.54505778e-04 9.99720120e-01 -3.56640666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204391417999997 meters 0.018164315419322192 Centerline is valid? [True, True] Translation: X:17.87, Y:1.10, Z:-0.36 [[ 9.98829932e-01 -4.25233766e-02 2.30332433e-02 1.78716144e+01] [ 4.25080984e-02 9.99095457e-01 1.15274151e-03 1.09823073e+00] [-2.30614272e-02 -1.72293354e-04 9.99734035e-01 -3.58277122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264391418 meters 0.015832434899027584 Centerline is valid? [True, True] Translation: X:17.93, Y:1.09, Z:-0.36 [[ 9.98536888e-01 -4.83015888e-02 2.43113124e-02 1.79339494e+01] [ 4.82863841e-02 9.98832796e-01 1.21241120e-03 1.09231781e+00] [-2.43414976e-02 -3.67319319e-05 9.99703701e-01 -3.59340791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324391417999998 meters 0.01601995180161951 Centerline is valid? [True, True] Translation: X:18.00, Y:1.08, Z:-0.36 [[ 9.98196124e-01 -5.54357607e-02 2.30515456e-02 1.79952184e+01] [ 5.54241342e-02 9.98462247e-01 1.14344633e-03 1.08407849e+00] [-2.30794858e-02 1.36228258e-04 9.99733624e-01 -3.63401282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384391417999996 meters 0.01718354249120734 Centerline is valid? [True, True] Translation: X:18.06, Y:1.08, Z:-0.36 [[ 9.97965427e-01 -5.93568321e-02 2.32760167e-02 1.80566746e+01] [ 5.93461321e-02 9.98236802e-01 1.15080529e-03 1.08192735e+00] [-2.33032847e-02 2.32877668e-04 9.99728414e-01 -3.64663953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444391418 meters 0.019762148010448493 Centerline is valid? [True, True] Translation: X:18.12, Y:1.08, Z:-0.37 [[ 9.97690750e-01 -6.41161361e-02 2.24117910e-02 1.81189149e+01] [ 6.41075400e-02 9.97942387e-01 1.10255720e-03 1.07872983e+00] [-2.24363679e-02 3.36753665e-04 9.99748216e-01 -3.67992031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504391417999997 meters 0.020579406505305552 Centerline is valid? [True, True] Translation: X:18.18, Y:1.08, Z:-0.37 [[ 9.97406659e-01 -6.85036610e-02 2.20727094e-02 1.81814474e+01] [ 6.84965283e-02 9.97650770e-01 1.07991584e-03 1.07589404e+00] [-2.20948338e-02 4.34788716e-04 9.99755785e-01 -3.69633184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564391418 meters 0.023338374263397965 Centerline is valid? [True, True] Translation: X:18.24, Y:1.07, Z:-0.37 [[ 9.97266147e-01 -7.08590421e-02 2.09577639e-02 1.82429943e+01] [ 7.08532422e-02 9.97486229e-01 1.02008959e-03 1.07365687e+00] [-2.09773634e-02 4.67624707e-04 9.99779842e-01 -3.72982971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624391418 meters 0.022961318599009375 Centerline is valid? [True, True] Translation: X:18.31, Y:1.07, Z:-0.37 [[ 9.96886130e-01 -7.57810231e-02 2.18009210e-02 1.83054469e+01] [ 7.57760467e-02 9.97124304e-01 1.05545378e-03 1.07439882e+00] [-2.18182116e-02 5.99820375e-04 9.99761775e-01 -3.74081940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684391417999997 meters 0.02355879923053379 Centerline is valid? [True, True] Translation: X:18.37, Y:1.08, Z:-0.38 [[ 9.96575250e-01 -7.99206942e-02 2.12238739e-02 1.83673043e+01] [ 7.99169469e-02 9.96800998e-01 1.02603287e-03 1.07795349e+00] [-2.12379799e-02 6.73628243e-04 9.99774222e-01 -3.75035726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744391418 meters 0.027174300090617866 Centerline is valid? [True, True] Translation: X:18.43, Y:1.08, Z:-0.38 [[ 9.96440214e-01 -8.17019477e-02 2.07771727e-02 1.84285474e+01] [ 8.16988589e-02 9.96656560e-01 9.98868475e-04 1.07702357e+00] [-2.07893150e-02 7.02158582e-04 9.99783632e-01 -3.76779469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804391417999998 meters 0.027384097055591368 Centerline is valid? [True, True] Translation: X:18.49, Y:1.08, Z:-0.38 [[ 9.96288088e-01 -8.37609291e-02 1.98532717e-02 1.84905956e+01] [ 8.37585662e-02 9.96485623e-01 9.51976422e-04 1.08273889e+00] [-1.98632382e-02 7.14438800e-04 9.99802451e-01 -3.79560335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864391417999997 meters 0.027471807127751074 Centerline is valid? [True, True] Translation: X:18.55, Y:1.09, Z:-0.38 [[ 9.96116843e-01 -8.54771468e-02 2.10924841e-02 1.85519061e+01] [ 8.54749989e-02 9.96339809e-01 1.00500186e-03 1.08642126e+00] [-2.11011863e-02 8.01780781e-04 9.99777024e-01 -3.78860549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924391418 meters 0.028033084755498358 Centerline is valid? [True, True] Translation: X:18.61, Y:1.09, Z:-0.38 [[ 9.96185212e-01 -8.47379505e-02 2.08447189e-02 1.86134494e+01] [ 8.47358027e-02 9.96402965e-01 9.87848032e-04 1.09321408e+00] [-2.08534479e-02 7.82214388e-04 9.99782237e-01 -3.81138282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984391417999998 meters 0.02793349013056669 Centerline is valid? [True, True] Translation: X:18.68, Y:1.10, Z:-0.38 [[ 9.96255064e-01 -8.39652913e-02 2.06319526e-02 1.86753647e+01] [ 8.39631379e-02 9.96468387e-01 9.72136325e-04 1.10028829e+00] [-2.06407142e-02 7.63827744e-04 9.99786666e-01 -3.82122890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044391417999996 meters 0.029375289879975248 Centerline is valid? [True, True] Translation: X:18.74, Y:1.11, Z:-0.39 [[ 9.96267073e-01 -8.42700117e-02 1.87212265e-02 1.87362181e+01] [ 8.42683790e-02 9.96442708e-01 8.77470996e-04 1.10694826e+00] [-1.87285741e-02 7.03411946e-04 9.99824357e-01 -3.85216967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104391418 meters 0.027874536584525426 Centerline is valid? [True, True] Translation: X:18.80, Y:1.12, Z:-0.39 [[ 9.95947421e-01 -8.81997866e-02 1.75935293e-02 1.87970076e+01] [ 8.81990440e-02 9.96102533e-01 8.19643880e-04 1.11958657e+00] [-1.75972515e-02 7.35410257e-04 9.99844886e-01 -3.86824731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164391417999997 meters 0.032101665236265155 Centerline is valid? [True, True] Translation: X:18.86, Y:1.12, Z:-0.39 [[ 9.95666501e-01 -9.13804250e-02 1.72579478e-02 1.88565542e+01] [ 9.13801941e-02 9.95815753e-01 8.03606452e-04 1.12426394e+00] [-1.72591702e-02 7.76910598e-04 9.99850748e-01 -3.90151565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224391417999996 meters 0.03432693453803196 Centerline is valid? [True, True] Translation: X:18.92, Y:1.13, Z:-0.39 [[ 9.95386792e-01 -9.43213869e-02 1.75673286e-02 1.89163007e+01] [ 9.43216441e-02 9.95541442e-01 8.15761229e-04 1.12912835e+00] [-1.75659474e-02 8.44981367e-04 9.99845350e-01 -3.90893154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284391418 meters 0.034159687212063666 Centerline is valid? [True, True] Translation: X:18.98, Y:1.14, Z:-0.39 [[ 9.94959738e-01 -9.86624783e-02 1.79118497e-02 1.89773384e+01] [ 9.86634441e-02 9.95120512e-01 8.31925355e-04 1.13741696e+00] [-1.79065289e-02 9.39512550e-04 9.99839224e-01 -3.90788444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344391417999997 meters 0.037514272066969834 Centerline is valid? [True, True] Translation: X:19.04, Y:1.14, Z:-0.39 [[ 9.94584933e-01 -1.02366622e-01 1.79411463e-02 1.90371555e+01] [ 1.02368208e-01 9.94746227e-01 8.32396791e-04 1.13967295e+00] [-1.79320973e-02 1.00871369e-03 9.99838698e-01 -3.92040499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404391418 meters 0.040233824118025244 Centerline is valid? [True, True] Translation: X:19.10, Y:1.14, Z:-0.39 [[ 9.94113671e-01 -1.06701252e-01 1.87843728e-02 1.90976266e+01] [ 1.06703760e-01 9.94290475e-01 8.71580714e-04 1.14247487e+00] [-1.87701217e-02 1.13791290e-03 9.99823178e-01 -3.91801615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464391417999998 meters 0.04482915709863016 Centerline is valid? [True, True] Translation: X:19.16, Y:1.15, Z:-0.39 [[ 9.93410167e-01 -1.13073808e-01 1.87231046e-02 1.91588548e+01] [ 1.13077431e-01 9.93585799e-01 8.68436108e-04 1.14569567e+00] [-1.87012083e-02 1.25444732e-03 9.99824330e-01 -3.93669192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524391417999997 meters 0.049363706902221784 Centerline is valid? [True, True] Translation: X:19.22, Y:1.15, Z:-0.40 [[ 9.92647453e-01 -1.19711406e-01 1.78945178e-02 1.92198419e+01] [ 1.19715799e-01 9.92807856e-01 8.29388281e-04 1.14701393e+00] [-1.78651051e-02 1.31896633e-03 9.99839536e-01 -3.96510439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584391418 meters 0.05120016792471053 Centerline is valid? [True, True] Translation: X:19.28, Y:1.15, Z:-0.40 [[ 9.92288776e-01 -1.22627764e-01 1.80393346e-02 1.92802617e+01] [ 1.22632717e-01 9.92451771e-01 8.35533000e-04 1.15058935e+00] [-1.80056291e-02 1.38312260e-03 9.99836929e-01 -3.97809477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644391417999998 meters 0.05210801943276609 Centerline is valid? [True, True] Translation: X:19.34, Y:1.15, Z:-0.40 [[ 9.92379761e-01 -1.22157256e-01 1.61249814e-02 1.93436119e+01] [ 1.22161128e-01 9.92509999e-01 7.48316709e-04 1.15385286e+00] [-1.60956176e-02 1.22723157e-03 9.99869704e-01 -4.01681442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704391417999997 meters 0.053564388478182685 Centerline is valid? [True, True] Translation: X:19.41, Y:1.16, Z:-0.40 [[ 9.92499327e-01 -1.21156632e-01 1.63142730e-02 1.94054542e+01] [ 1.21160550e-01 9.92632639e-01 7.51689467e-04 1.15707363e+00] [-1.62851520e-02 1.23059500e-03 9.99866631e-01 -4.03857694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764391418 meters 0.05434564084004373 Centerline is valid? [True, True] Translation: X:19.47, Y:1.16, Z:-0.40 [[ 9.92590122e-01 -1.20345451e-01 1.67875319e-02 1.94680304e+01] [ 1.20349562e-01 9.92731279e-01 7.68820288e-04 1.15984148e+00] [-1.67580320e-02 1.25724869e-03 9.99858784e-01 -4.04368078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824391417999998 meters 0.0455583085658036 Centerline is valid? [True, True] Translation: X:19.53, Y:1.17, Z:-0.41 [[ 9.92736594e-01 -1.19142177e-01 1.67091637e-02 1.95300682e+01] [ 1.19146151e-01 9.92876435e-01 7.60985093e-04 1.17303165e+00] [-1.66808003e-02 1.23537479e-03 9.99860103e-01 -4.07105409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884391417999996 meters 0.04737964137882908 Centerline is valid? [True, True] Translation: X:19.59, Y:1.17, Z:-0.41 [[ 9.92579347e-01 -1.20341463e-01 1.74405263e-02 1.95918906e+01] [ 1.20346071e-01 9.92731686e-01 7.88872267e-04 1.17242045e+00] [-1.74086972e-02 1.31588051e-03 9.99847591e-01 -4.07149302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944391418 meters 0.05051095186031777 Centerline is valid? [True, True] Translation: X:19.65, Y:1.17, Z:-0.41 [[ 9.92414894e-01 -1.21670788e-01 1.75754832e-02 1.96525976e+01] [ 1.21675767e-01 9.92569586e-01 7.89756974e-04 1.17100279e+00] [-1.75409804e-02 1.35474382e-03 9.99845227e-01 -4.08400096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004391417999997 meters 0.05157603644433703 Centerline is valid? [True, True] Translation: X:19.71, Y:1.17, Z:-0.41 [[ 9.92147475e-01 -1.23745918e-01 1.81751213e-02 1.97137044e+01] [ 1.23751645e-01 9.92312888e-01 8.13604504e-04 1.16822963e+00] [-1.81360874e-02 1.44198551e-03 9.99834488e-01 -4.09892446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064391417999996 meters 0.05315345289899533 Centerline is valid? [True, True] Translation: X:19.77, Y:1.17, Z:-0.41 [[ 9.91846809e-01 -1.26073869e-01 1.85819144e-02 1.97748648e+01] [ 1.26080268e-01 9.92019695e-01 8.31434221e-04 1.16602819e+00] [-1.85384472e-02 1.51815737e-03 9.99826996e-01 -4.11909467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124391418 meters 0.05628205444845739 Centerline is valid? [True, True] Translation: X:19.84, Y:1.16, Z:-0.41 [[ 9.91440261e-01 -1.29258588e-01 1.83963467e-02 1.98363471e+01] [ 1.29265410e-01 9.91609690e-01 8.22804830e-04 1.16158039e+00] [-1.83483503e-02 1.56224946e-03 9.99830434e-01 -4.13566848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184391417999997 meters 0.05351447404016043 Centerline is valid? [True, True] Translation: X:19.90, Y:1.17, Z:-0.41 [[ 9.91382171e-01 -1.29691322e-01 1.84811497e-02 1.98988156e+01] [ 1.29698276e-01 9.91553162e-01 8.26950251e-04 1.16672002e+00] [-1.84322907e-02 1.57714951e-03 9.99828867e-01 -4.14459096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244391418 meters 0.05570028001714523 Centerline is valid? [True, True] Translation: X:19.96, Y:1.16, Z:-0.41 [[ 9.91307998e-01 -1.30193665e-01 1.89225402e-02 1.99614264e+01] [ 1.30201150e-01 9.91487243e-01 8.41157454e-04 1.16310975e+00] [-1.88709706e-02 1.62989038e-03 9.99820599e-01 -4.14979665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304391417999998 meters 0.056009136799546125 Centerline is valid? [True, True] Translation: X:20.02, Y:1.16, Z:-0.42 [[ 9.91163693e-01 -1.31201332e-01 1.95126642e-02 2.00239405e+01] [ 1.31209605e-01 9.91354275e-01 8.61232838e-04 1.16288745e+00] [-1.94569579e-02 1.70662624e-03 9.99809239e-01 -4.15575889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364391417999997 meters 0.05944704511037518 Centerline is valid? [True, True] Translation: X:20.09, Y:1.16, Z:-0.42 [[ 9.91001982e-01 -1.32424146e-01 1.94657878e-02 2.00850232e+01] [ 1.32432640e-01 9.91191636e-01 8.57747654e-04 1.15693223e+00] [-1.94079126e-02 1.72787606e-03 9.99810156e-01 -4.18094557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424391418 meters 0.05450423040714211 Centerline is valid? [True, True] Translation: X:20.15, Y:1.16, Z:-0.42 [[ 9.90821521e-01 -1.33752086e-01 1.95727648e-02 2.01468385e+01] [ 1.33760987e-01 9.91013249e-01 8.59601284e-04 1.16217232e+00] [-1.95118427e-02 1.76636089e-03 9.99808066e-01 -4.18480274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484391417999998 meters 0.06298808634274641 Centerline is valid? [True, True] Translation: X:20.21, Y:1.15, Z:-0.42 [[ 9.90912606e-01 -1.33296099e-01 1.80099177e-02 2.02090396e+01] [ 1.33303568e-01 9.91074939e-01 7.90508705e-04 1.15222610e+00] [-1.79545498e-02 1.61746124e-03 9.99837496e-01 -4.23226914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544391417999996 meters 0.056793148230254865 Centerline is valid? [True, True] Translation: X:20.27, Y:1.16, Z:-0.42 [[ 9.90624627e-01 -1.35230658e-01 1.93782820e-02 2.02698514e+01] [ 1.35239812e-01 9.90812536e-01 8.43408772e-04 1.15747567e+00] [-1.93142994e-02 1.78521370e-03 9.99811868e-01 -4.22592737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604391418 meters 0.05751497604208127 Centerline is valid? [True, True] Translation: X:20.33, Y:1.16, Z:-0.43 [[ 9.90607086e-01 -1.35340344e-01 1.95087768e-02 2.03322553e+01] [ 1.35349637e-01 9.90797534e-01 8.49357489e-04 1.15559366e+00] [-1.94442003e-02 1.79912631e-03 9.99809325e-01 -4.25637809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664391417999997 meters 0.05600288389843356 Centerline is valid? [True, True] Translation: X:20.39, Y:1.16, Z:-0.42 [[ 9.90362023e-01 -1.37048784e-01 2.00173322e-02 2.03932317e+01] [ 1.37059041e-01 9.90562502e-01 8.65131135e-04 1.15577179e+00] [-1.99469839e-02 1.88676333e-03 9.99799259e-01 -4.24352564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724391417999996 meters 0.06210512653632698 Centerline is valid? [True, True] Translation: X:20.45, Y:1.15, Z:-0.43 [[ 9.90158596e-01 -1.38581945e-01 1.95191948e-02 2.04534499e+01] [ 1.38592016e-01 9.90349203e-01 8.42386913e-04 1.14662859e+00] [-1.94475586e-02 1.87110792e-03 9.99809127e-01 -4.27316544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784391418 meters 0.06505603706293682 Centerline is valid? [True, True] Translation: X:20.52, Y:1.14, Z:-0.43 [[ 9.89504578e-01 -1.43154279e-01 1.96861092e-02 2.05151222e+01] [ 1.43165417e-01 9.89698409e-01 8.49675358e-04 1.13845438e+00] [-1.96049456e-02 1.97761238e-03 9.99805849e-01 -4.29065393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844391417999997 meters 0.0658210841803797 Centerline is valid? [True, True] Translation: X:20.58, Y:1.13, Z:-0.43 [[ 9.88935219e-01 -1.46898086e-01 2.06902098e-02 2.05766719e+01] [ 1.46911216e-01 9.89149280e-01 8.92213250e-04 1.13399875e+00] [-2.05967706e-02 2.15728278e-03 9.99785537e-01 -4.27946828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904391417999996 meters 0.06687572105485194 Centerline is valid? [True, True] Translation: X:20.64, Y:1.13, Z:-0.43 [[ 9.88883823e-01 -1.47350092e-01 1.99182070e-02 2.06393296e+01] [ 1.47362351e-01 9.89082201e-01 8.58896720e-04 1.13098531e+00] [-1.98273025e-02 2.08584475e-03 9.99801244e-01 -4.30882714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964391417999998 meters 0.06524174132898042 Centerline is valid? [True, True] Translation: X:20.70, Y:1.13, Z:-0.43 [[ 9.89453362e-01 -1.43752243e-01 1.78139733e-02 2.07001759e+01] [ 1.43761567e-01 9.89612060e-01 7.62744260e-04 1.13242733e+00] [-1.77385690e-02 1.80626484e-03 9.99841028e-01 -4.33817089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024391417999997 meters 0.05869158131758013 Centerline is valid? [True, True] Translation: X:20.76, Y:1.14, Z:-0.43 [[ 9.90308336e-01 -1.37638016e-01 1.85789185e-02 2.07605725e+01] [ 1.37647099e-01 9.90481016e-01 7.95088091e-04 1.14141398e+00] [-1.85115005e-02 1.76995188e-03 9.99827081e-01 -4.32672542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084391418 meters 0.05588396963968053 Centerline is valid? [True, True] Translation: X:20.82, Y:1.15, Z:-0.44 [[ 9.91186039e-01 -1.31172524e-01 1.85473465e-02 2.08209859e+01] [ 1.31180458e-01 9.91358188e-01 7.93520018e-04 1.14553124e+00] [-1.84911519e-02 1.64652344e-03 9.99827668e-01 -4.35276825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144391417999998 meters 0.052578955840687516 Centerline is valid? [True, True] Translation: X:20.88, Y:1.15, Z:-0.44 [[ 9.91653532e-01 -1.27534129e-01 1.89292986e-02 2.08811364e+01] [ 1.27541738e-01 9.91832874e-01 8.09677875e-04 1.15210845e+00] [-1.88779622e-02 1.61135572e-03 9.99820497e-01 -4.36878500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204391417999997 meters 0.04377248273243757 Centerline is valid? [True, True] Translation: X:20.94, Y:1.17, Z:-0.44 [[ 9.93059705e-01 -1.16095746e-01 1.88201893e-02 2.09416462e+01] [ 1.16101225e-01 9.93237060e-01 8.04940206e-04 1.16776841e+00] [-1.87863596e-02 1.38569335e-03 9.99822561e-01 -4.36763475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264391418 meters 0.0389838582001583 Centerline is valid? [True, True] Translation: X:21.00, Y:1.18, Z:-0.44 [[ 9.94261615e-01 -1.05470254e-01 1.78847947e-02 2.10008200e+01] [ 1.05473494e-01 9.94421821e-01 7.64612433e-04 1.17779891e+00] [-1.78656740e-02 1.12614700e-03 9.99839762e-01 -4.37268865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324391417999998 meters 0.037018943372270775 Centerline is valid? [True, True] Translation: X:21.06, Y:1.18, Z:-0.44 [[ 9.94729878e-01 -1.00980785e-01 1.77581429e-02 2.10615664e+01] [ 1.00983265e-01 9.94887835e-01 7.59297028e-04 1.18243592e+00] [-1.77440348e-02 1.03797982e-03 9.99842023e-01 -4.38489848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384391417999996 meters 0.03655558973260565 Centerline is valid? [True, True] Translation: X:21.12, Y:1.19, Z:-0.44 [[ 9.95079086e-01 -9.74141209e-02 1.81135608e-02 2.11213289e+01] [ 9.74161200e-02 9.95243438e-01 7.74055673e-04 1.18850278e+00] [-1.81028065e-02 9.94306201e-04 9.99835636e-01 -4.38507852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444391418 meters 0.037757164351421915 Centerline is valid? [True, True] Translation: X:21.18, Y:1.19, Z:-0.44 [[ 9.95307170e-01 -9.50358034e-02 1.82163062e-02 2.11815534e+01] [ 9.50374266e-02 9.95473396e-01 7.78521454e-04 1.19120063e+00] [-1.82078356e-02 9.56362881e-04 9.99833766e-01 -4.40514870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504391417999997 meters 0.03773836553359777 Centerline is valid? [True, True] Translation: X:21.24, Y:1.19, Z:-0.44 [[ 9.95430358e-01 -9.40572132e-02 1.64815855e-02 2.12433131e+01] [ 9.40583901e-02 9.95566433e-01 7.05469948e-04 1.19437352e+00] [-1.64748678e-02 8.47985194e-04 9.99863921e-01 -4.43924243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564391417999996 meters 0.03971378691967782 Centerline is valid? [True, True] Translation: X:21.30, Y:1.19, Z:-0.44 [[ 9.95158310e-01 -9.65917755e-02 1.81650142e-02 2.13046152e+01] [ 9.65937412e-02 9.95323593e-01 7.71200312e-04 1.19391073e+00] [-1.81545588e-02 9.87160283e-04 9.99834705e-01 -4.41127502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624391418 meters 0.03872133179622705 Centerline is valid? [True, True] Translation: X:21.37, Y:1.20, Z:-0.44 [[ 9.94748224e-01 -1.00542102e-01 1.91639571e-02 2.13652156e+01] [ 1.00545035e-01 9.94932176e-01 8.12857247e-04 1.19681516e+00] [-1.91485639e-02 1.11825244e-03 9.99816024e-01 -4.40659282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684391417999997 meters 0.04389154141305552 Centerline is valid? [True, True] Translation: X:21.43, Y:1.19, Z:-0.45 [[ 9.94063519e-01 -1.07391290e-01 1.74594176e-02 2.14265227e+01] [ 1.07394788e-01 9.94216180e-01 7.39871633e-04 1.19020860e+00] [-1.74378912e-02 1.13957105e-03 9.99847299e-01 -4.45481974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744391417999996 meters 0.046900472976184465 Centerline is valid? [True, True] Translation: X:21.49, Y:1.19, Z:-0.45 [[ 9.93534460e-01 -1.12595494e-01 1.45441211e-02 2.14870642e+01] [ 1.12598483e-01 9.93640379e-01 6.15830521e-04 1.18819299e+00] [-1.45209657e-02 1.02579713e-03 9.99894039e-01 -4.48176637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804391417999998 meters 0.05150326489100979 Centerline is valid? [True, True] Translation: X:21.55, Y:1.18, Z:-0.45 [[ 9.92877151e-01 -1.18389028e-01 1.33791315e-02 2.15482835e+01] [ 1.18392081e-01 9.92966764e-01 5.66359291e-04 1.18289308e+00] [-1.33520836e-02 1.02165802e-03 9.99910335e-01 -4.47824226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864391417999997 meters 0.05288742104521439 Centerline is valid? [True, True] Translation: X:21.61, Y:1.18, Z:-0.45 [[ 9.92717116e-01 -1.19696430e-01 1.36195511e-02 2.16098635e+01] [ 1.19699691e-01 9.92809976e-01 5.78397377e-04 1.18403181e+00] [-1.35908583e-02 1.05607109e-03 9.99907082e-01 -4.49583394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924391418 meters 0.04760710026614427 Centerline is valid? [True, True] Translation: X:21.67, Y:1.19, Z:-0.45 [[ 9.92967466e-01 -1.17484778e-01 1.45923979e-02 2.16714210e+01] [ 1.17488365e-01 9.93074069e-01 6.14144284e-04 1.19447383e+00] [-1.45634846e-02 1.10461169e-03 9.99893337e-01 -4.45487763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984391417999998 meters 0.048152257792357184 Centerline is valid? [True, True] Translation: X:21.73, Y:1.20, Z:-0.45 [[ 9.93430163e-01 -1.13525475e-01 1.44387586e-02 2.17312499e+01] [ 1.13528592e-01 9.93534545e-01 6.06250428e-04 1.19821243e+00] [-1.44142303e-02 1.03694448e-03 9.99895572e-01 -4.46708488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044391417999996 meters 0.04285601811262114 Centerline is valid? [True, True] Translation: X:21.79, Y:1.21, Z:-0.45 [[ 9.93865516e-01 -1.09670758e-01 1.42710037e-02 2.17914598e+01] [ 1.09673401e-01 9.93967497e-01 5.99637078e-04 1.20959962e+00] [-1.42506764e-02 9.69190895e-04 9.99897984e-01 -4.45699811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104391418 meters 0.04204521813407666 Centerline is valid? [True, True] Translation: X:21.85, Y:1.21, Z:-0.45 [[ 9.94015601e-01 -1.08331176e-01 1.40478466e-02 2.18534360e+01] [ 1.08333579e-01 9.94114423e-01 5.92095498e-04 1.21388286e+00] [-1.40293093e-02 9.33301327e-04 9.99901149e-01 -4.46855150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164391417999997 meters 0.04189694269869816 Centerline is valid? [True, True] Translation: X:21.92, Y:1.22, Z:-0.45 [[ 9.94154770e-01 -1.07283174e-01 1.21084571e-02 2.19151758e+01] [ 1.07284912e-01 9.94228188e-01 5.07777711e-04 1.21659217e+00] [-1.20930454e-02 7.94245120e-04 9.99926561e-01 -4.51391060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224391417999996 meters 0.042471052848194836 Centerline is valid? [True, True] Translation: X:21.98, Y:1.22, Z:-0.45 [[ 9.94425098e-01 -1.04984816e-01 9.84446429e-03 2.19759019e+01] [ 1.04985898e-01 9.94473627e-01 4.08238114e-04 1.22182158e+00] [-9.83291891e-03 6.27567695e-04 9.99951459e-01 -4.54382463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284391418 meters 0.0388102315680739 Centerline is valid? [True, True] Translation: X:22.04, Y:1.23, Z:-0.45 [[ 9.94748508e-01 -1.01988332e-01 8.58986124e-03 2.20370926e+01] [ 1.01989046e-01 9.94785458e-01 3.55990026e-04 1.23123898e+00] [-8.58137588e-03 5.21951210e-04 9.99963043e-01 -4.53067838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344391417999997 meters 0.04321642016782866 Centerline is valid? [True, True] Translation: X:22.10, Y:1.23, Z:-0.46 [[ 9.94979110e-01 -9.97504000e-02 8.15034045e-03 2.20974106e+01] [ 9.97509730e-02 9.95012377e-01 3.37198997e-04 1.22899157e+00] [-8.14332535e-03 4.77498432e-04 9.99966729e-01 -4.57125555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404391417999996 meters 0.04324026213281136 Centerline is valid? [True, True] Translation: X:22.16, Y:1.23, Z:-0.45 [[ 9.95065934e-01 -9.87341635e-02 9.76485624e-03 2.21584479e+01] [ 9.87349133e-02 9.95113688e-01 4.06443629e-04 1.23198873e+00] [-9.75727198e-03 5.59694026e-04 9.99952240e-01 -4.52026298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464391417999998 meters 0.039456758552812 Centerline is valid? [True, True] Translation: X:22.22, Y:1.24, Z:-0.45 [[ 9.95227591e-01 -9.71118603e-02 9.55664832e-03 2.22202878e+01] [ 9.71125210e-02 9.95273330e-01 3.95976218e-04 1.24226536e+00] [-9.54993119e-03 5.33983754e-04 9.99954256e-01 -4.52698305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524391417999997 meters 0.04027488791998163 Centerline is valid? [True, True] Translation: X:22.28, Y:1.24, Z:-0.45 [[ 9.95091400e-01 -9.87302772e-02 6.74070652e-03 2.22816942e+01] [ 9.87306678e-02 9.95114154e-01 2.75606688e-04 1.24287458e+00] [-6.73498319e-03 3.91260610e-04 9.99977243e-01 -4.53985430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584391417999996 meters 0.040498541480999545 Centerline is valid? [True, True] Translation: X:22.34, Y:1.24, Z:-0.45 [[ 9.94854501e-01 -1.01014346e-01 7.78617992e-03 2.23436363e+01] [ 1.01014916e-01 9.94884859e-01 3.21008745e-04 1.24421225e+00] [-7.77877900e-03 4.67163319e-04 9.99969636e-01 -4.50679621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644391417999998 meters 0.04263982249581083 Centerline is valid? [True, True] Translation: X:22.41, Y:1.24, Z:-0.45 [[ 9.94502411e-01 -1.04185585e-01 1.05032990e-02 2.24053792e+01] [ 1.04186874e-01 9.94557647e-01 4.25859734e-04 1.24291523e+00] [-1.04905048e-02 6.70787362e-04 9.99944748e-01 -4.47727654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704391417999997 meters 0.0427269768153967 Centerline is valid? [True, True] Translation: X:22.47, Y:1.24, Z:-0.45 [[ 9.94434584e-01 -1.04773034e-01 1.10665797e-02 2.24680101e+01] [ 1.04774477e-01 9.94495905e-01 4.50873406e-04 1.24400840e+00] [-1.10529076e-02 7.11130992e-04 9.99938662e-01 -4.50144900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764391418 meters 0.046378993900233687 Centerline is valid? [True, True] Translation: X:22.53, Y:1.24, Z:-0.45 [[ 9.94264447e-01 -1.06398550e-01 1.08424591e-02 2.25292359e+01] [ 1.06400066e-01 9.94323304e-01 4.38531651e-04 1.23977871e+00] [-1.08275689e-02 7.17621941e-04 9.99941123e-01 -4.51188124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824391417999998 meters 0.04601808692960147 Centerline is valid? [True, True] Translation: X:22.59, Y:1.24, Z:-0.45 [[ 9.94213072e-01 -1.06675398e-01 1.26778153e-02 2.25915626e+01] [ 1.06677545e-01 9.94293539e-01 5.08691645e-04 1.24252845e+00] [-1.26597347e-02 8.46690325e-04 9.99919504e-01 -4.47563540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884391417999996 meters 0.044213077017671264 Centerline is valid? [True, True] Translation: X:22.65, Y:1.24, Z:-0.45 [[ 9.94097940e-01 -1.07476937e-01 1.47646364e-02 2.26541317e+01] [ 1.07480010e-01 9.94207072e-01 5.87457829e-04 1.24382445e+00] [-1.47422441e-02 1.00291266e-03 9.99890824e-01 -4.47131694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944391418 meters 0.04452174947447105 Centerline is valid? [True, True] Translation: X:22.72, Y:1.24, Z:-0.45 [[ 9.93959946e-01 -1.08975249e-01 1.29622651e-02 2.27161638e+01] [ 1.08977806e-01 9.94044052e-01 5.11022666e-04 1.24290284e+00] [-1.29407513e-02 9.04663144e-04 9.99915856e-01 -4.50418459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004391417999997 meters 0.04554839684542004 Centerline is valid? [True, True] Translation: X:22.78, Y:1.24, Z:-0.45 [[ 9.94187315e-01 -1.07110342e-01 1.09067363e-02 2.27785703e+01] [ 1.07112023e-01 9.94246865e-01 4.31582921e-04 1.24317354e+00] [-1.08902153e-02 7.39168324e-04 9.99940427e-01 -4.53721748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064391417999996 meters 0.04680232756670309 Centerline is valid? [True, True] Translation: X:22.84, Y:1.24, Z:-0.46 [[ 9.94426381e-01 -1.04944179e-01 1.01435478e-02 2.28399637e+01] [ 1.04945574e-01 9.94477888e-01 3.96126430e-04 1.24409946e+00] [-1.01291052e-02 6.70601876e-04 9.99948474e-01 -4.57507595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124391418 meters 0.04027984438729889 Centerline is valid? [True, True] Translation: X:22.90, Y:1.26, Z:-0.45 [[ 9.94765728e-01 -1.01663223e-01 1.02827502e-02 2.29005477e+01] [ 1.01664488e-01 9.94818662e-01 4.00956081e-04 1.25505993e+00] [-1.02702343e-02 6.46533164e-04 9.99947051e-01 -4.53216276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184391417999997 meters 0.03905448857320243 Centerline is valid? [True, True] Translation: X:22.96, Y:1.26, Z:-0.45 [[ 9.95179548e-01 -9.70300981e-02 1.42417524e-02 2.29615071e+01] [ 9.70320629e-02 9.95281102e-01 5.54598501e-04 1.26016164e+00] [-1.42283598e-02 8.29981532e-04 9.99898427e-01 -4.50326593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244391417999996 meters 0.03892997237502382 Centerline is valid? [True, True] Translation: X:23.02, Y:1.26, Z:-0.45 [[ 9.95563764e-01 -9.28165346e-02 1.54234272e-02 2.30225198e+01] [ 9.28183323e-02 9.95682879e-01 6.00781924e-04 1.26469574e+00] [-1.54126049e-02 8.33460073e-04 9.99880871e-01 -4.52569645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304391417999998 meters 0.039456713015796084 Centerline is valid? [True, True] Translation: X:23.08, Y:1.27, Z:-0.45 [[ 9.95783769e-01 -9.05899293e-02 1.44273836e-02 2.30832586e+01] [ 9.05912707e-02 9.95887999e-01 5.61872856e-04 1.26808468e+00] [-1.44189582e-02 7.47491144e-04 9.99895762e-01 -4.54110297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364391417999997 meters 0.03904738003598083 Centerline is valid? [True, True] Translation: X:23.14, Y:1.27, Z:-0.45 [[ 9.95517209e-01 -9.32635990e-02 1.57285449e-02 2.31444545e+01] [ 9.32655371e-02 9.95641083e-01 6.11848052e-04 1.26955831e+00] [-1.57170486e-02 8.57825924e-04 9.99876112e-01 -4.53060911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424391417999995 meters 0.03769672700389401 Centerline is valid? [True, True] Translation: X:23.21, Y:1.27, Z:-0.45 [[ 9.95218742e-01 -9.62421066e-02 1.66466880e-02 2.32054359e+01] [ 9.62447062e-02 9.95357493e-01 6.46767289e-04 1.27384834e+00] [-1.66316519e-02 9.58480670e-04 9.99861225e-01 -4.53151472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484391417999998 meters 0.039530541403194126 Centerline is valid? [True, True] Translation: X:23.27, Y:1.28, Z:-0.46 [[ 9.95142825e-01 -9.70524174e-02 1.64798505e-02 2.32677870e+01] [ 9.70550569e-02 9.95278807e-01 6.41433385e-04 1.27800590e+00] [-1.64642986e-02 9.61134999e-04 9.99863992e-01 -4.56142035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544391417999996 meters 0.04158484081148371 Centerline is valid? [True, True] Translation: X:23.33, Y:1.28, Z:-0.46 [[ 9.94964549e-01 -9.86999210e-02 1.74319268e-02 2.33302818e+01] [ 9.87032363e-02 9.95116686e-01 6.72179200e-04 1.27885372e+00] [-1.74131453e-02 1.05179312e-03 9.99847826e-01 -4.58900307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604391418 meters 0.04337526683583224 Centerline is valid? [True, True] Translation: X:23.39, Y:1.28, Z:-0.46 [[ 9.94674412e-01 -1.01398913e-01 1.84681879e-02 2.33911147e+01] [ 1.01403132e-01 9.94845164e-01 7.10310784e-04 1.27715798e+00] [-1.84450122e-02 1.16620413e-03 9.99829196e-01 -4.60369340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664391417999997 meters 0.04634530544740981 Centerline is valid? [True, True] Translation: X:23.45, Y:1.28, Z:-0.46 [[ 9.94335821e-01 -1.04214108e-01 2.08732788e-02 2.34512859e+01] [ 1.04220126e-01 9.94553931e-01 8.02313877e-04 1.27932590e+00] [-2.08432139e-02 1.37764632e-03 9.99781807e-01 -4.57355287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724391417999996 meters 0.04817017203775543 Centerline is valid? [True, True] Translation: X:23.51, Y:1.28, Z:-0.46 [[ 9.94325942e-01 -1.04095007e-01 2.19123523e-02 2.35136117e+01] [ 1.04101609e-01 9.94566310e-01 8.42288621e-04 1.28085597e+00] [-2.18809654e-02 1.44360171e-03 9.99759541e-01 -4.58149867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784391418 meters 0.05029743151994867 Centerline is valid? [True, True] Translation: X:23.58, Y:1.28, Z:-0.46 [[ 9.94238131e-01 -1.05088173e-01 2.11427398e-02 2.35753449e+01] [ 1.05094669e-01 9.94461895e-01 8.06736341e-04 1.28113122e+00] [-2.11104275e-02 1.41990121e-03 9.99776142e-01 -4.62187217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844391417999997 meters 0.0502027641594172 Centerline is valid? [True, True] Translation: X:23.64, Y:1.29, Z:-0.46 [[ 9.94065997e-01 -1.06711268e-01 2.11068654e-02 2.36368937e+01] [ 1.06718215e-01 9.94288983e-01 8.00153821e-04 1.28602678e+00] [-2.10717092e-02 1.45708130e-03 9.99776905e-01 -4.62648228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904391417999996 meters 0.05473107390313163 Centerline is valid? [True, True] Translation: X:23.70, Y:1.28, Z:-0.47 [[ 9.93758747e-01 -1.09190872e-01 2.28233769e-02 2.36966521e+01] [ 1.09199784e-01 9.94019451e-01 8.59213414e-04 1.28281553e+00] [-2.27806989e-02 1.63845699e-03 9.99739144e-01 -4.65013000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964391417999998 meters 0.05733210536508736 Centerline is valid? [True, True] Translation: X:23.76, Y:1.28, Z:-0.47 [[ 9.93478409e-01 -1.11797974e-01 2.24023114e-02 2.37581143e+01] [ 1.11807260e-01 9.93729555e-01 8.41511994e-04 1.28107696e+00] [-2.23559183e-02 1.66871706e-03 9.99748683e-01 -4.66214082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024391417999997 meters 0.0538918564673596 Centerline is valid? [True, True] Translation: X:23.82, Y:1.29, Z:-0.47 [[ 9.93129321e-01 -1.14816673e-01 2.26115762e-02 2.38183490e+01] [ 1.14826931e-01 9.93385150e-01 8.48526502e-04 1.29233408e+00] [-2.25594290e-02 1.75372134e-03 9.99743966e-01 -4.66893999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084391417999996 meters 0.059487290409989096 Centerline is valid? [True, True] Translation: X:23.88, Y:1.29, Z:-0.46 [[ 9.92991745e-01 -1.15606851e-01 2.45448835e-02 2.38800733e+01] [ 1.15619217e-01 9.93293185e-01 9.19490755e-04 1.28684807e+00] [-2.44865650e-02 1.92481349e-03 9.99698306e-01 -4.64669160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144391417999998 meters 0.04808881317803517 Centerline is valid? [True, True] Translation: X:23.94, Y:1.30, Z:-0.47 [[ 9.92991472e-01 -1.15379521e-01 2.56027941e-02 2.39430559e+01] [ 1.15393080e-01 9.93319450e-01 9.52157723e-04 1.30370312e+00] [-2.55416128e-02 2.00890077e-03 9.99671741e-01 -4.66525134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204391417999997 meters 0.04709107299370666 Centerline is valid? [True, True] Translation: X:24.00, Y:1.31, Z:-0.47 [[ 9.93356513e-01 -1.12035929e-01 2.62828783e-02 2.40041304e+01] [ 1.12049255e-01 9.93702181e-01 9.69811930e-04 1.31081130e+00] [-2.62260073e-02 1.98160794e-03 9.99654075e-01 -4.66936980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264391417999995 meters 0.0501575516793931 Centerline is valid? [True, True] Translation: X:24.06, Y:1.31, Z:-0.47 [[ 9.93673932e-01 -1.09092807e-01 2.66622708e-02 2.40635648e+01] [ 1.09105489e-01 9.94029691e-01 9.82975236e-04 1.31042180e+00] [-2.66103243e-02 1.93224324e-03 9.99644015e-01 -4.69498597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324391417999998 meters 0.05211684041077564 Centerline is valid? [True, True] Translation: X:24.13, Y:1.31, Z:-0.47 [[ 9.93846780e-01 -1.07693543e-01 2.58974687e-02 2.41254171e+01] [ 1.07705107e-01 9.94182430e-01 9.51998428e-04 1.30976635e+00] [-2.58493325e-02 1.84314906e-03 9.99664151e-01 -4.73602424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384391417999996 meters 0.04680241668464736 Centerline is valid? [True, True] Translation: X:24.19, Y:1.32, Z:-0.47 [[ 9.93820077e-01 -1.07970848e-01 2.57672479e-02 2.41874585e+01] [ 1.07982569e-01 9.94152343e-01 9.40205991e-04 1.31766589e+00] [-2.57180847e-02 1.84801803e-03 9.99667527e-01 -4.73993780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444391418 meters 0.05145145157891242 Centerline is valid? [True, True] Translation: X:24.25, Y:1.32, Z:-0.47 [[ 9.93826479e-01 -1.07995542e-01 2.54144042e-02 2.42485137e+01] [ 1.08007122e-01 9.94149694e-01 9.20628770e-04 1.31660610e+00] [-2.53651460e-02 1.82999142e-03 9.99676578e-01 -4.74645897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504391417999997 meters 0.046181713643933836 Centerline is valid? [True, True] Translation: X:24.31, Y:1.33, Z:-0.48 [[ 9.93995504e-01 -1.06320587e-01 2.58625367e-02 2.43099558e+01] [ 1.06332111e-01 9.94330233e-01 9.33157188e-04 1.32530623e+00] [-2.58151160e-02 1.82246407e-03 9.99665073e-01 -4.77518781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564391417999996 meters 0.047030915978967774 Centerline is valid? [True, True] Translation: X:24.37, Y:1.32, Z:-0.48 [[ 9.93898776e-01 -1.07201256e-01 2.59444199e-02 2.43708096e+01] [ 1.07213202e-01 9.94235614e-01 9.34183298e-04 1.32447626e+00] [-2.58950119e-02 1.85310069e-03 9.99662950e-01 -4.76711011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624391418 meters 0.05015895248757874 Centerline is valid? [True, True] Translation: X:24.43, Y:1.32, Z:-0.47 [[ 9.93644863e-01 -1.09011539e-01 2.80422871e-02 2.44309684e+01] [ 1.09026324e-01 9.94038354e-01 1.00574932e-03 1.32342080e+00] [-2.79847472e-02 2.05798984e-03 9.99606232e-01 -4.72541497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684391417999997 meters 0.05182987424218065 Centerline is valid? [True, True] Translation: X:24.49, Y:1.32, Z:-0.48 [[ 9.93555473e-01 -1.09711950e-01 2.84747364e-02 2.44932836e+01] [ 1.09727594e-01 9.93961176e-01 1.01729516e-03 1.32101153e+00] [-2.84143919e-02 2.11372514e-03 9.99593995e-01 -4.75397322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744391417999996 meters 0.055353081152461896 Centerline is valid? [True, True] Translation: X:24.55, Y:1.32, Z:-0.48 [[ 9.93474565e-01 -1.10818540e-01 2.69729478e-02 2.45545044e+01] [ 1.10833169e-01 9.93838565e-01 9.56663966e-04 1.31574566e+00] [-2.69127719e-02 2.03907597e-03 9.99635706e-01 -4.81667736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804391417999998 meters 0.05269484856998092 Centerline is valid? [True, True] Translation: X:24.62, Y:1.32, Z:-0.48 [[ 9.93417483e-01 -1.11624942e-01 2.57211259e-02 2.46167210e+01] [ 1.11638674e-01 9.93748452e-01 9.05967328e-04 1.32100949e+00] [-2.56614576e-02 1.97146861e-03 9.99668747e-01 -4.82948853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864391417999997 meters 0.05806043959653327 Centerline is valid? [True, True] Translation: X:24.68, Y:1.31, Z:-0.48 [[ 9.93560221e-01 -1.10150988e-01 2.65489494e-02 2.46775503e+01] [ 1.10165265e-01 9.93912849e-01 9.28739636e-04 1.31290876e+00] [-2.64896436e-02 2.00201330e-03 9.99647083e-01 -4.83201624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924391417999995 meters 0.05044373597413156 Centerline is valid? [True, True] Translation: X:24.74, Y:1.32, Z:-0.49 [[ 9.93515115e-01 -1.10453050e-01 2.69785259e-02 2.47394072e+01] [ 1.10467953e-01 9.93879240e-01 9.41949071e-04 1.32455936e+00] [-2.69174380e-02 2.04442190e-03 9.99635570e-01 -4.85036988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984391417999998 meters 0.05214965487613136 Centerline is valid? [True, True] Translation: X:24.80, Y:1.33, Z:-0.49 [[ 9.93535817e-01 -1.10124021e-01 2.75550259e-02 2.48021702e+01] [ 1.10139664e-01 9.93915663e-01 9.54030658e-04 1.32561414e+00] [-2.74924335e-02 2.08703766e-03 9.99619833e-01 -4.87818560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044391417999996 meters 0.053144423619656066 Centerline is valid? [True, True] Translation: X:24.86, Y:1.33, Z:-0.49 [[ 9.93597015e-01 -1.09519312e-01 2.77577435e-02 2.48643117e+01] [ 1.09535190e-01 9.93982462e-01 9.52456160e-04 1.32586832e+00] [-2.76950226e-02 2.09409210e-03 9.99614226e-01 -4.90159676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104391417999995 meters 0.051267737491238224 Centerline is valid? [True, True] Translation: X:24.93, Y:1.33, Z:-0.50 [[ 9.93873858e-01 -1.06858797e-01 2.82126249e-02 2.49253061e+01] [ 1.06874309e-01 9.94272074e-01 9.61833813e-04 1.32915709e+00] [-2.81538055e-02 2.05926330e-03 9.99601482e-01 -4.98053305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164391417999997 meters 0.05031730282035612 Centerline is valid? [True, True] Translation: X:24.99, Y:1.33, Z:-0.50 [[ 9.94200542e-01 -1.03480518e-01 2.92756704e-02 2.49853224e+01] [ 1.03495778e-01 9.94629393e-01 9.97625932e-04 1.33472006e+00] [-2.92216771e-02 2.03806804e-03 9.99570878e-01 -4.97035121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224391417999996 meters 0.048927302890243274 Centerline is valid? [True, True] Translation: X:25.05, Y:1.34, Z:-0.50 [[ 9.94531298e-01 -1.00103022e-01 2.97805824e-02 2.50456423e+01] [ 1.00117311e-01 9.94975123e-01 1.01468387e-03 1.34066708e+00] [-2.97325116e-02 1.97241696e-03 9.99555945e-01 -5.01532430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284391418 meters 0.041823954381081975 Centerline is valid? [True, True] Translation: X:25.11, Y:1.35, Z:-0.51 [[ 9.94707526e-01 -9.81523162e-02 3.03819072e-02 2.51068699e+01] [ 9.81663109e-02 9.95169486e-01 1.03422845e-03 1.35301208e+00] [-3.03366589e-02 1.95372492e-03 9.99537828e-01 -5.05533534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344391417999997 meters 0.041309131783355525 Centerline is valid? [True, True] Translation: X:25.17, Y:1.36, Z:-0.51 [[ 9.94937246e-01 -9.57193730e-02 3.06215326e-02 2.51678751e+01] [ 9.57324945e-02 9.95406553e-01 1.04066235e-03 1.35784524e+00] [-3.05804858e-02 1.89608198e-03 9.99530509e-01 -5.13697025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404391417999996 meters 0.042215566713931785 Centerline is valid? [True, True] Translation: X:25.23, Y:1.36, Z:-0.52 [[ 9.95023932e-01 -9.49226093e-02 3.02832289e-02 2.52288021e+01] [ 9.49351423e-02 9.95482930e-01 1.02693062e-03 1.35955574e+00] [-3.02439164e-02 1.85312210e-03 9.99540830e-01 -5.16513433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464391417999998 meters 0.039824628111103974 Centerline is valid? [True, True] Translation: X:25.29, Y:1.37, Z:-0.52 [[ 9.95150442e-01 -9.31539965e-02 3.15900393e-02 2.52908840e+01] [ 9.31669513e-02 9.95649931e-01 1.06481098e-03 1.36711577e+00] [-3.15518119e-02 1.88350054e-03 9.99500343e-01 -5.18058947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524391417999997 meters 0.0415383471109715 Centerline is valid? [True, True] Translation: X:25.35, Y:1.37, Z:-0.52 [[ 9.95388034e-01 -9.08260155e-02 3.08754938e-02 2.53508887e+01] [ 9.08374684e-02 9.95865194e-01 1.03442822e-03 1.37040470e+00] [-3.08417826e-02 1.77499422e-03 9.99522703e-01 -5.24275989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584391417999996 meters 0.04145966506925632 Centerline is valid? [True, True] Translation: X:25.41, Y:1.37, Z:-0.53 [[ 9.95421528e-01 -9.06765168e-02 3.02283291e-02 2.54134912e+01] [ 9.06875153e-02 9.95878886e-01 1.00976355e-03 1.37289292e+00] [-3.01953165e-02 1.73619168e-03 9.99542510e-01 -5.25897541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644391417999998 meters 0.0397760521992507 Centerline is valid? [True, True] Translation: X:25.48, Y:1.38, Z:-0.53 [[ 9.95599091e-01 -8.86209961e-02 3.04757183e-02 2.54751028e+01] [ 8.86314413e-02 9.96063977e-01 1.01062480e-03 1.38081301e+00] [-3.04453277e-02 1.69492971e-03 9.99534997e-01 -5.29057041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704391417999997 meters 0.03985596247031657 Centerline is valid? [True, True] Translation: X:25.53, Y:1.39, Z:-0.53 [[ 9.95882907e-01 -8.52855038e-02 3.07183636e-02 2.55347198e+01] [ 8.52945741e-02 9.96355258e-01 1.01736475e-03 1.38555543e+00] [-3.06931696e-02 1.60693357e-03 9.99527562e-01 -5.31019170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764391417999995 meters 0.03286385123150672 Centerline is valid? [True, True] Translation: X:25.60, Y:1.40, Z:-0.53 [[ 9.96152240e-01 -8.21026344e-02 3.06573291e-02 2.55956298e+01] [ 8.21101761e-02 9.96622741e-01 1.01498485e-03 1.40118428e+00] [-3.06371243e-02 1.50619926e-03 9.99529438e-01 -5.34357833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824391417999998 meters 0.030798396901503506 Centerline is valid? [True, True] Translation: X:25.66, Y:1.41, Z:-0.54 [[ 9.96581628e-01 -7.70619203e-02 2.97744728e-02 2.56550250e+01] [ 7.70668145e-02 9.97025444e-01 9.84865622e-04 1.41158497e+00] [-2.97618026e-02 1.31312479e-03 9.99556157e-01 -5.35291992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884391417999996 meters 0.029046827849841812 Centerline is valid? [True, True] Translation: X:25.71, Y:1.42, Z:-0.54 [[ 9.96982632e-01 -7.23626741e-02 2.80940475e-02 2.57149027e+01] [ 7.23651677e-02 9.97377771e-01 9.29281325e-04 1.41872442e+00] [-2.80876238e-02 1.10655312e-03 9.99604852e-01 -5.40151045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944391417999995 meters 0.027720380817613695 Centerline is valid? [True, True] Translation: X:25.78, Y:1.43, Z:-0.54 [[ 9.97410314e-01 -6.62341997e-02 2.80302909e-02 2.57751093e+01] [ 6.62342678e-02 9.97803669e-01 9.27056199e-04 1.43039581e+00] [-2.80301299e-02 9.31910379e-04 9.99606644e-01 -5.42211497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004391417999997 meters 0.0238629179703063 Centerline is valid? [True, True] Translation: X:25.84, Y:1.44, Z:-0.54 [[ 9.97663924e-01 -6.23186883e-02 2.79835033e-02 2.58360290e+01] [ 6.23172360e-02 9.98055964e-01 9.24844718e-04 1.44153891e+00] [-2.79867375e-02 8.21170370e-04 9.99607957e-01 -5.42140971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064391417999996 meters 0.023556735645164608 Centerline is valid? [True, True] Translation: X:25.90, Y:1.45, Z:-0.54 [[ 9.97916514e-01 -5.85585645e-02 2.70836777e-02 2.58958810e+01] [ 5.85558456e-02 9.98283734e-01 8.94156180e-04 1.44691805e+00] [-2.70895554e-02 6.93614435e-04 9.99632770e-01 -5.44431040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124391418 meters 0.02173052802210915 Centerline is valid? [True, True] Translation: X:25.96, Y:1.46, Z:-0.55 [[ 9.97982151e-01 -5.72714715e-02 2.74154204e-02 2.59583220e+01] [ 5.72682528e-02 9.98358418e-01 9.03199907e-04 1.45579707e+00] [-2.74221434e-02 6.68655843e-04 9.99623719e-01 -5.46068613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184391417999997 meters 0.021587731880475438 Centerline is valid? [True, True] Translation: X:26.02, Y:1.46, Z:-0.55 [[ 9.98009158e-01 -5.61874373e-02 2.86477291e-02 2.60208219e+01] [ 5.61837092e-02 9.98420009e-01 9.35688663e-04 1.46152523e+00] [-2.86550399e-02 6.75709823e-04 9.99589132e-01 -5.45754809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244391417999996 meters 0.020030069167628214 Centerline is valid? [True, True] Translation: X:26.08, Y:1.47, Z:-0.55 [[ 9.98031499e-01 -5.60106767e-02 2.82122627e-02 2.60841118e+01] [ 5.60071816e-02 9.98429947e-01 9.14691248e-04 1.46940135e+00] [-2.82192004e-02 6.67198642e-04 9.99601536e-01 -5.48586941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304391417999998 meters 0.02272471738545693 Centerline is valid? [True, True] Translation: X:26.15, Y:1.47, Z:-0.55 [[ 9.97937110e-01 -5.88992487e-02 2.55421983e-02 2.61465424e+01] [ 5.88974271e-02 9.98263699e-01 8.24270948e-04 1.47228709e+00] [-2.55463983e-02 6.81799195e-04 9.99673405e-01 -5.52609701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364391417999997 meters 0.022750242044228153 Centerline is valid? [True, True] Translation: X:26.21, Y:1.47, Z:-0.55 [[ 9.97691283e-01 -6.31089440e-02 2.50871472e-02 2.62085646e+01] [ 6.31086749e-02 9.98006338e-01 8.03251106e-04 1.47425444e+00] [-2.50878242e-02 7.81819989e-04 9.99684945e-01 -5.54071426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424391417999995 meters 0.02451422504493236 Centerline is valid? [True, True] Translation: X:26.27, Y:1.48, Z:-0.56 [[ 9.97539339e-01 -6.58872768e-02 2.39611050e-02 2.62701357e+01] [ 6.58878850e-02 9.97826739e-01 7.64962953e-04 1.47659448e+00] [-2.39594326e-02 8.15665888e-04 9.99712599e-01 -5.55886642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484391417999998 meters 0.025338500610645423 Centerline is valid? [True, True] Translation: X:26.33, Y:1.48, Z:-0.56 [[ 9.97556114e-01 -6.65209887e-02 2.13718983e-02 2.63316987e+01] [ 6.65217252e-02 9.97784747e-01 6.77254803e-04 1.48187493e+00] [-2.13696058e-02 7.46095878e-04 9.99771366e-01 -5.59161283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544391417999996 meters 0.025963727491011484 Centerline is valid? [True, True] Translation: X:26.39, Y:1.49, Z:-0.56 [[ 9.97597852e-01 -6.61277940e-02 2.06310587e-02 2.63932967e+01] [ 6.61284541e-02 9.97810906e-01 6.50973843e-04 1.48724249e+00] [-2.06289428e-02 7.14889912e-04 9.99786945e-01 -5.61711518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604391417999995 meters 0.024603118702429125 Centerline is valid? [True, True] Translation: X:26.46, Y:1.49, Z:-0.56 [[ 9.97628119e-01 -6.55387936e-02 2.10428925e-02 2.64560774e+01] [ 6.55394809e-02 9.97849760e-01 6.57726332e-04 1.49410775e+00] [-2.10407518e-02 7.22973969e-04 9.99778357e-01 -5.61955215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664391417999997 meters 0.02217103849123984 Centerline is valid? [True, True] Translation: X:26.52, Y:1.50, Z:-0.56 [[ 9.97913916e-01 -6.13914063e-02 1.99727590e-02 2.65171928e+01] [ 6.13913274e-02 9.98113582e-01 6.17668076e-04 1.50271981e+00] [-1.99730015e-02 6.09774616e-04 9.99800334e-01 -5.63976777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724391417999996 meters 0.024206958867035437 Centerline is valid? [True, True] Translation: X:26.58, Y:1.50, Z:-0.56 [[ 9.97988311e-01 -6.00413160e-02 2.03561042e-02 2.65781356e+01] [ 6.00409633e-02 9.98195716e-01 6.29042702e-04 1.50205733e+00] [-2.03571446e-02 5.94422842e-04 9.99792595e-01 -5.64813221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784391417999995 meters 0.021097249037414716 Centerline is valid? [True, True] Translation: X:26.64, Y:1.51, Z:-0.57 [[ 9.98098828e-01 -5.79989231e-02 2.08531494e-02 2.66401245e+01] [ 5.79982219e-02 9.98316482e-01 6.38918492e-04 1.50842776e+00] [-2.08550994e-02 5.71741791e-04 9.99782345e-01 -5.66125350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844391417999997 meters 0.021695192387235333 Centerline is valid? [True, True] Translation: X:26.70, Y:1.51, Z:-0.57 [[ 9.98058137e-01 -5.93051473e-02 1.90487696e-02 2.67024076e+01] [ 5.93048915e-02 9.98239748e-01 5.78820516e-04 1.50754021e+00] [-1.90495660e-02 5.51988691e-04 9.99818388e-01 -5.69588901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904391417999996 meters 0.02647006933378449 Centerline is valid? [True, True] Translation: X:26.76, Y:1.50, Z:-0.57 [[ 9.98041455e-01 -6.01012068e-02 1.73521801e-02 2.67638001e+01] [ 6.01011998e-02 9.98192152e-01 5.22354413e-04 1.50279026e+00] [-1.73522042e-02 5.21555486e-04 9.99849303e-01 -5.74774955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964391417999998 meters 0.024303189551789124 Centerline is valid? [True, True] Translation: X:26.83, Y:1.51, Z:-0.58 [[ 9.97886179e-01 -6.35105531e-02 1.37689149e-02 2.68253361e+01] [ 6.35109041e-02 9.97981060e-01 4.12206412e-04 1.50516526e+00] [-1.37672957e-02 4.63141152e-04 9.99905119e-01 -5.77290780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024391417999997 meters 0.025128928960537703 Centerline is valid? [True, True] Translation: X:26.89, Y:1.50, Z:-0.58 [[ 9.97681929e-01 -6.61026149e-02 1.61620952e-02 2.68878352e+01] [ 6.61034289e-02 9.97812659e-01 4.84437960e-04 1.50148883e+00] [-1.61587658e-02 5.85054914e-04 9.99869267e-01 -5.76735617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084391417999996 meters 0.02427810178777593 Centerline is valid? [True, True] Translation: X:26.95, Y:1.50, Z:-0.57 [[ 9.97704909e-01 -6.51217513e-02 1.85492014e-02 2.69503216e+01] [ 6.51227634e-02 9.97877108e-01 5.50109851e-04 1.50376545e+00] [-1.85456475e-02 6.59127955e-04 9.99827797e-01 -5.74776868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144391417999998 meters 0.023937693871254204 Centerline is valid? [True, True] Translation: X:27.01, Y:1.51, Z:-0.57 [[ 9.97738863e-01 -6.38998009e-02 2.08321303e-02 2.70130092e+01] [ 6.39009510e-02 9.97956059e-01 6.11137577e-04 1.50675046e+00] [-2.08286023e-02 7.21437228e-04 9.99782801e-01 -5.72560556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204391417999997 meters 0.027225478898919565 Centerline is valid? [True, True] Translation: X:27.07, Y:1.50, Z:-0.58 [[ 9.97359156e-01 -6.96735757e-02 2.05013616e-02 2.70748164e+01] [ 6.96760324e-02 9.97569494e-01 5.95316463e-04 1.49621011e+00] [-2.04930108e-02 8.34709212e-04 9.99789648e-01 -5.76459342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264391417999995 meters 0.03205697297925683 Centerline is valid? [True, True] Translation: X:27.13, Y:1.49, Z:-0.58 [[ 9.96984620e-01 -7.53765291e-02 1.84403577e-02 2.71346768e+01] [ 7.53795046e-02 9.97154775e-01 5.34651704e-04 1.48587840e+00] [-1.84281909e-02 8.56985498e-04 9.99829819e-01 -5.80764381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324391417999998 meters 0.03481143497962805 Centerline is valid? [True, True] Translation: X:27.20, Y:1.48, Z:-0.58 [[ 9.96507677e-01 -8.18490432e-02 1.65282654e-02 2.71953971e+01] [ 8.18523183e-02 9.96644354e-01 4.79370589e-04 1.48021664e+00] [-1.65120385e-02 8.75180371e-04 9.99863284e-01 -5.83517244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384391417999996 meters 0.03742577927375144 Centerline is valid? [True, True] Translation: X:27.26, Y:1.47, Z:-0.58 [[ 9.96242092e-01 -8.50663544e-02 1.62913715e-02 2.72560692e+01] [ 8.50699657e-02 9.96374868e-01 4.72459136e-04 1.47471884e+00] [-1.62725035e-02 9.15222736e-04 9.99867175e-01 -5.84418630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444391417999995 meters 0.036700522815888176 Centerline is valid? [True, True] Translation: X:27.32, Y:1.47, Z:-0.59 [[ 9.95789826e-01 -9.02902043e-02 1.58209062e-02 2.73169814e+01] [ 9.02942725e-02 9.95915024e-01 4.58442026e-04 1.47181380e+00] [-1.57976710e-02 9.72025311e-04 9.99874737e-01 -5.85649020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504391417999997 meters 0.039021980976869604 Centerline is valid? [True, True] Translation: X:27.38, Y:1.47, Z:-0.59 [[ 9.95564428e-01 -9.27755141e-02 1.56260395e-02 2.73787434e+01] [ 9.27797860e-02 9.95686550e-01 4.52895844e-04 1.46733223e+00] [-1.56006550e-02 9.98893611e-04 9.99877803e-01 -5.86489687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564391417999996 meters 0.03737640906991699 Centerline is valid? [True, True] Translation: X:27.44, Y:1.47, Z:-0.59 [[ 9.95705856e-01 -9.10405126e-02 1.67771783e-02 2.74407658e+01] [ 9.10451827e-02 9.95846644e-01 4.86816362e-04 1.46753908e+00] [-1.67518167e-02 1.04275536e-03 9.99859135e-01 -5.87381148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624391417999995 meters 0.037385561028404776 Centerline is valid? [True, True] Translation: X:27.50, Y:1.47, Z:-0.59 [[ 9.95873361e-01 -8.91053257e-02 1.72188506e-02 2.75018707e+01] [ 8.91100659e-02 9.96021663e-01 4.93284419e-04 1.46657723e+00] [-1.71943025e-02 1.04312410e-03 9.99851623e-01 -5.89500344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684391417999997 meters 0.03802165317466931 Centerline is valid? [True, True] Translation: X:27.56, Y:1.47, Z:-0.59 [[ 9.95960151e-01 -8.79506716e-02 1.81123554e-02 2.75640818e+01] [ 8.79557237e-02 9.96124250e-01 5.19036636e-04 1.46609802e+00] [-1.80878061e-02 1.07614552e-03 9.99835823e-01 -5.88516312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744391417999996 meters 0.03686776909282485 Centerline is valid? [True, True] Translation: X:27.63, Y:1.46, Z:-0.59 [[ 9.96080652e-01 -8.64523154e-02 1.86904229e-02 2.76260760e+01] [ 8.64575350e-02 9.96255396e-01 5.30103562e-04 1.46498873e+00] [-1.86662634e-02 1.08790199e-03 9.99825178e-01 -5.88712715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804391417999998 meters 0.03654802343968991 Centerline is valid? [True, True] Translation: X:27.69, Y:1.46, Z:-0.59 [[ 9.96185368e-01 -8.56369789e-02 1.67636462e-02 2.76880951e+01] [ 8.56411308e-02 9.96325938e-01 4.71365315e-04 1.46128297e+00] [-1.67424218e-02 9.66090390e-04 9.99859369e-01 -5.93125431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864391417999997 meters 0.037769917475487004 Centerline is valid? [True, True] Translation: X:27.75, Y:1.46, Z:-0.60 [[ 9.96005167e-01 -8.81011367e-02 1.45566741e-02 2.77497472e+01] [ 8.81046035e-02 9.96111146e-01 4.04209974e-04 1.45694210e+00] [-1.45356766e-02 8.79914774e-04 9.99893964e-01 -5.95321368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924391417999995 meters 0.036749862403978185 Centerline is valid? [True, True] Translation: X:27.81, Y:1.45, Z:-0.60 [[ 9.95844810e-01 -9.00483482e-02 1.35797646e-02 2.78120750e+01] [ 9.00515472e-02 9.95937035e-01 3.76957281e-04 1.45414432e+00] [-1.35585349e-02 8.47487866e-04 9.99907720e-01 -5.98054791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984391417999998 meters 0.038423110158054975 Centerline is valid? [True, True] Translation: X:27.87, Y:1.45, Z:-0.60 [[ 9.95909399e-01 -8.92040289e-02 1.43912918e-02 2.78733300e+01] [ 8.92075326e-02 9.96012980e-01 3.99577660e-04 1.45079198e+00] [-1.43695574e-02 8.85868488e-04 9.99896360e-01 -5.99285276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044391417999996 meters 0.03881231286358057 Centerline is valid? [True, True] Translation: X:27.94, Y:1.45, Z:-0.60 [[ 9.95969063e-01 -8.84307631e-02 1.50208652e-02 2.79359591e+01] [ 8.84345546e-02 9.96081904e-01 4.12919426e-04 1.44757194e+00] [-1.49985268e-02 9.17108551e-04 9.99887095e-01 -5.98899870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104391417999995 meters 0.03904976143794284 Centerline is valid? [True, True] Translation: X:28.00, Y:1.45, Z:-0.60 [[ 9.95954351e-01 -8.86849176e-02 1.44884908e-02 2.79982581e+01] [ 8.86885275e-02 9.96059330e-01 3.94435493e-04 1.44581667e+00] [-1.44663770e-02 8.92123172e-04 9.99894959e-01 -6.00834161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164391417999997 meters 0.0422468616217504 Centerline is valid? [True, True] Translation: X:28.06, Y:1.44, Z:-0.60 [[ 9.95816879e-01 -9.01672532e-02 1.47854608e-02 2.80591492e+01] [ 9.01712540e-02 9.95926196e-01 3.97200462e-04 1.43767778e+00] [-1.47610422e-02 9.37684615e-04 9.99890610e-01 -6.01807626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224391417999996 meters 0.04349484814731071 Centerline is valid? [True, True] Translation: X:28.12, Y:1.43, Z:-0.60 [[ 9.95646873e-01 -9.16585226e-02 1.69121082e-02 2.81215759e+01] [ 9.16640237e-02 9.95789889e-01 4.51247219e-04 1.43086207e+00] [-1.68822670e-02 1.10094900e-03 9.99856878e-01 -6.02561135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284391417999995 meters 0.044777791319062066 Centerline is valid? [True, True] Translation: X:28.18, Y:1.43, Z:-0.60 [[ 9.95650506e-01 -9.20255285e-02 1.45386375e-02 2.81840214e+01] [ 9.20296247e-02 9.95756194e-01 3.88455753e-04 1.42812913e+00] [-1.45126862e-02 9.51219189e-04 9.99894233e-01 -6.04428838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344391417999997 meters 0.04470309741240292 Centerline is valid? [True, True] Translation: X:28.25, Y:1.43, Z:-0.61 [[ 9.95702786e-01 -9.15710153e-02 1.38098131e-02 2.82466902e+01] [ 9.15747104e-02 9.95798141e-01 3.65867429e-04 1.42668722e+00] [-1.37852891e-02 9.00334421e-04 9.99904573e-01 -6.06653555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404391417999996 meters 0.04816017608347061 Centerline is valid? [True, True] Translation: X:28.31, Y:1.42, Z:-0.61 [[ 9.95814064e-01 -9.00029887e-02 1.59314806e-02 2.83074305e+01] [ 9.00078303e-02 9.95940972e-01 4.14319634e-04 1.41846123e+00] [-1.59041043e-02 1.02137268e-03 9.99873000e-01 -6.08428756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464391417999995 meters 0.04212389279698097 Centerline is valid? [True, True] Translation: X:28.37, Y:1.43, Z:-0.61 [[ 9.95983631e-01 -8.78347177e-02 1.73686382e-02 2.83683895e+01] [ 8.78401489e-02 9.96134481e-01 4.51417092e-04 1.42712897e+00] [-1.73411495e-02 1.07605973e-03 9.99849052e-01 -6.07515216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524391417999997 meters 0.04285966535411734 Centerline is valid? [True, True] Translation: X:28.43, Y:1.42, Z:-0.61 [[ 9.96118915e-01 -8.67517031e-02 1.48744213e-02 2.84300210e+01] [ 8.67555501e-02 9.96229554e-01 3.87644607e-04 1.42446492e+00] [-1.48519669e-02 9.04298477e-04 9.99889295e-01 -6.11824935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584391417999996 meters 0.04299168321108856 Centerline is valid? [True, True] Translation: X:28.49, Y:1.42, Z:-0.61 [[ 9.96106537e-01 -8.68993882e-02 1.48412563e-02 2.84925351e+01] [ 8.69033082e-02 9.96216678e-01 3.81800860e-04 1.42270327e+00] [-1.48182853e-02 9.09439934e-04 9.99889790e-01 -6.11969765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644391417999998 meters 0.04298939759722978 Centerline is valid? [True, True] Translation: X:28.55, Y:1.42, Z:-0.61 [[ 9.96079821e-01 -8.68616975e-02 1.67342510e-02 2.85546893e+01] [ 8.68667012e-02 9.96219851e-01 4.29007786e-04 1.42394157e+00] [-1.67082574e-02 1.02632318e-03 9.99859881e-01 -6.10459204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704391417999997 meters 0.040713749878939866 Centerline is valid? [True, True] Translation: X:28.62, Y:1.43, Z:-0.61 [[ 9.95992323e-01 -8.79291118e-02 1.63635141e-02 2.86171924e+01] [ 8.79340417e-02 9.96126211e-01 4.19380187e-04 1.42622154e+00] [-1.63370011e-02 1.02121049e-03 9.99866021e-01 -6.12366422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764391417999995 meters 0.04087046302906211 Centerline is valid? [True, True] Translation: X:28.68, Y:1.43, Z:-0.61 [[ 9.95931514e-01 -8.87095199e-02 1.58442545e-02 2.86793404e+01] [ 8.87143037e-02 9.96057032e-01 4.02053997e-04 1.42569062e+00] [-1.58174472e-02 1.00519376e-03 9.99874391e-01 -6.14404215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824391417999998 meters 0.04794151126131071 Centerline is valid? [True, True] Translation: X:28.74, Y:1.41, Z:-0.62 [[ 9.95572022e-01 -9.30719686e-02 1.31892973e-02 2.87394108e+01] [ 9.30757336e-02 9.95658977e-01 3.29415957e-04 1.41436403e+00] [-1.31627017e-02 8.99646211e-04 9.99912963e-01 -6.18836845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884391417999996 meters 0.04435992729737408 Centerline is valid? [True, True] Translation: X:28.80, Y:1.42, Z:-0.62 [[ 9.95297234e-01 -9.61353806e-02 1.18913460e-02 2.88006028e+01] [ 9.61386501e-02 9.95367908e-01 2.97709422e-04 1.41972221e+00] [-1.18648846e-02 8.46908585e-04 9.99929251e-01 -6.19178596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944391417999995 meters 0.04915941965879186 Centerline is valid? [True, True] Translation: X:28.86, Y:1.41, Z:-0.62 [[ 9.94899132e-01 -1.00031339e-01 1.30172427e-02 2.88602111e+01] [ 1.00035603e-01 9.94983805e-01 3.24804600e-04 1.41111836e+00] [-1.29844363e-02 9.79039904e-04 9.99915219e-01 -6.19592813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004391417999997 meters 0.04899185871980531 Centerline is valid? [True, True] Translation: X:28.92, Y:1.41, Z:-0.62 [[ 9.94911665e-01 -1.00031358e-01 1.20210457e-02 2.89219398e+01] [ 1.00034960e-01 9.94983877e-01 3.02803714e-04 1.41333199e+00] [-1.19910365e-02 9.01261871e-04 9.99927699e-01 -6.21366438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064391417999996 meters 0.04872786152913975 Centerline is valid? [True, True] Translation: X:28.98, Y:1.42, Z:-0.62 [[ 9.95132539e-01 -9.78144168e-02 1.19820915e-02 2.89830929e+01] [ 9.78178985e-02 9.95204286e-01 2.96545083e-04 1.41795897e+00] [-1.19536352e-02 8.76961352e-04 9.99928168e-01 -6.22112614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124391417999995 meters 0.041958447411404885 Centerline is valid? [True, True] Translation: X:29.04, Y:1.43, Z:-0.62 [[ 9.95725151e-01 -9.14558959e-02 1.29322315e-02 2.90431509e+01] [ 9.14594301e-02 9.95808752e-01 3.19103602e-04 1.42815571e+00] [-1.29072133e-02 8.65035044e-04 9.99916324e-01 -6.22946085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184391417999997 meters 0.03916402617247336 Centerline is valid? [True, True] Translation: X:29.10, Y:1.44, Z:-0.62 [[ 9.96215978e-01 -8.58000254e-02 1.38593297e-02 2.91038563e+01] [ 8.58035385e-02 9.96312017e-01 3.42034893e-04 1.43704541e+00] [-1.38375633e-02 8.48438902e-04 9.99903896e-01 -6.22621871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244391417999996 meters 0.03837732928293798 Centerline is valid? [True, True] Translation: X:29.16, Y:1.44, Z:-0.62 [[ 9.96527400e-01 -8.20048570e-02 1.44341355e-02 2.91640002e+01] [ 8.20082715e-02 9.96631585e-01 3.56169502e-04 1.44399744e+00] [-1.44147230e-02 8.28785836e-04 9.99895759e-01 -6.22894757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304391417999994 meters 0.03747794885751729 Centerline is valid? [True, True] Translation: X:29.22, Y:1.45, Z:-0.62 [[ 9.96852097e-01 -7.77408008e-02 1.55648754e-02 2.92235169e+01] [ 7.77442531e-02 9.96973261e-01 3.84071075e-04 1.44912310e+00] [-1.55476226e-02 8.27217559e-04 9.99878786e-01 -6.24751546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364391417999997 meters 0.03387629312483917 Centerline is valid? [True, True] Translation: X:29.29, Y:1.46, Z:-0.62 [[ 9.96997024e-01 -7.57205573e-02 1.62274813e-02 2.92853579e+01] [ 7.57240166e-02 9.97128734e-01 4.02045273e-04 1.45857878e+00] [-1.62113310e-02 8.27972122e-04 9.99868245e-01 -6.23744709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424391417999995 meters 0.03504505238097821 Centerline is valid? [True, True] Translation: X:29.35, Y:1.46, Z:-0.63 [[ 9.96994592e-01 -7.58217559e-02 1.59011024e-02 2.93475079e+01] [ 7.58251593e-02 9.97121053e-01 3.89614317e-04 1.46486863e+00] [-1.58848652e-02 8.17260254e-04 9.99873494e-01 -6.25205999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484391417999998 meters 0.035337219278206156 Centerline is valid? [True, True] Translation: X:29.41, Y:1.47, Z:-0.63 [[ 9.96871385e-01 -7.75996673e-02 1.50244200e-02 2.94090666e+01] [ 7.76029653e-02 9.96984276e-01 3.64253049e-04 1.46769631e+00] [-1.50073764e-02 8.02826103e-04 9.99887061e-01 -6.29279673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544391417999996 meters 0.038813299189425214 Centerline is valid? [True, True] Translation: X:29.47, Y:1.46, Z:-0.63 [[ 9.96278983e-01 -8.50587635e-02 1.38994376e-02 2.94697920e+01] [ 8.50623818e-02 9.96375572e-01 3.31735041e-04 1.46396638e+00] [-1.38772770e-02 8.51818616e-04 9.99903343e-01 -6.31666085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604391417999995 meters 0.04428218217699265 Centerline is valid? [True, True] Translation: X:29.53, Y:1.46, Z:-0.63 [[ 9.95583540e-01 -9.29181383e-02 1.34027457e-02 2.95305175e+01] [ 9.29222123e-02 9.95673320e-01 3.19789167e-04 1.46300941e+00] [-1.33744705e-02 9.27035948e-04 9.99910128e-01 -6.31240425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664391417999997 meters 0.050203076348091194 Centerline is valid? [True, True] Translation: X:29.59, Y:1.46, Z:-0.63 [[ 9.95093221e-01 -9.80813646e-02 1.30202547e-02 2.95904751e+01] [ 9.80856553e-02 9.95177928e-01 3.10170511e-04 1.45797291e+00] [-1.29878921e-02 9.68451646e-04 9.99915185e-01 -6.34391265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724391417999996 meters 0.051589312296285814 Centerline is valid? [True, True] Translation: X:29.65, Y:1.46, Z:-0.64 [[ 9.94758868e-01 -1.01462394e-01 1.26561166e-02 2.96513472e+01] [ 1.01466716e-01 9.94838889e-01 3.01816990e-04 1.45747294e+00] [-1.26214201e-02 9.83939465e-04 9.99919863e-01 -6.35792804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784391417999995 meters 0.053765367021821234 Centerline is valid? [True, True] Translation: X:29.71, Y:1.46, Z:-0.64 [[ 9.94355554e-01 -1.05513942e-01 1.11283568e-02 2.97117011e+01] [ 1.05517538e-01 9.94417407e-01 2.65089398e-04 1.45989704e+00] [-1.10942023e-02 9.10643699e-04 9.99938043e-01 -6.36568120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844391417999997 meters 0.052350451088015164 Centerline is valid? [True, True] Translation: X:29.77, Y:1.46, Z:-0.64 [[ 9.94304991e-01 -1.05997609e-01 1.10495479e-02 2.97733083e+01] [ 1.06001155e-01 9.94365971e-01 2.65957300e-04 1.46478312e+00] [-1.10154852e-02 9.06822162e-04 9.99938917e-01 -6.37867949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904391417999996 meters 0.04857184509380864 Centerline is valid? [True, True] Translation: X:29.84, Y:1.47, Z:-0.64 [[ 9.94368018e-01 -1.05139138e-01 1.33419269e-02 2.98358193e+01] [ 1.05144289e-01 9.94456926e-01 3.16725098e-04 1.47390378e+00] [-1.33012719e-02 1.08788611e-03 9.99910942e-01 -6.35075643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964391417999995 meters 0.04754642383476671 Centerline is valid? [True, True] Translation: X:29.90, Y:1.48, Z:-0.63 [[ 9.94604390e-01 -1.02737942e-01 1.43883014e-02 2.98966295e+01] [ 1.02743781e-01 9.94707798e-01 3.34811699e-04 1.47924859e+00] [-1.43465535e-02 1.14530329e-03 9.99896427e-01 -6.34979357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024391417999997 meters 0.047849363010054054 Centerline is valid? [True, True] Translation: X:29.96, Y:1.48, Z:-0.64 [[ 9.94870412e-01 -9.99611224e-02 1.55125122e-02 2.99563370e+01] [ 9.99675807e-02 9.94990630e-01 3.60480565e-04 1.48190468e+00] [-1.54708383e-02 1.19211687e-03 9.99879609e-01 -6.35163259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084391417999996 meters 0.05066146448346397 Centerline is valid? [True, True] Translation: X:30.02, Y:1.48, Z:-0.64 [[ 9.95011962e-01 -9.87584011e-02 1.40703374e-02 3.00181431e+01] [ 9.87635635e-02 9.95110873e-01 3.29184083e-04 1.47990852e+00] [-1.40340555e-02 1.06209456e-03 9.99900954e-01 -6.39405115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144391417999998 meters 0.049072359273285356 Centerline is valid? [True, True] Translation: X:30.08, Y:1.48, Z:-0.64 [[ 9.94972348e-01 -9.93286594e-02 1.28001364e-02 3.00797514e+01] [ 9.93330191e-02 9.95054201e-01 2.96286420e-04 1.48423728e+00] [-1.27662593e-02 9.76679401e-04 9.99918031e-01 -6.41106998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204391417999997 meters 0.05307659137098578 Centerline is valid? [True, True] Translation: X:30.14, Y:1.48, Z:-0.64 [[ 9.94762859e-01 -1.01511429e-01 1.19282477e-02 3.01397914e+01] [ 1.01515435e-01 9.94833927e-01 2.70782312e-04 1.47868911e+00] [-1.18941130e-02 9.41537060e-04 9.99928819e-01 -6.43919657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264391417999995 meters 0.0473857940284361 Centerline is valid? [True, True] Translation: X:30.20, Y:1.49, Z:-0.64 [[ 9.94744977e-01 -1.01687032e-01 1.19238584e-02 3.02016643e+01] [ 1.01691012e-01 9.94815995e-01 2.73604737e-04 1.48765033e+00] [-1.18898671e-02 9.40382292e-04 9.99928871e-01 -6.43481813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324391417999998 meters 0.048249674355335906 Centerline is valid? [True, True] Translation: X:30.26, Y:1.49, Z:-0.64 [[ 9.94909654e-01 -1.00076016e-01 1.18140415e-02 3.02617813e+01] [ 1.00079870e-01 9.94979371e-01 2.66025177e-04 1.48966104e+00] [-1.17813504e-02 9.17676722e-04 9.99930176e-01 -6.44800127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384391417999996 meters 0.04446684151586774 Centerline is valid? [True, True] Translation: X:30.32, Y:1.50, Z:-0.65 [[ 9.95324131e-01 -9.58598569e-02 1.18643403e-02 3.03217628e+01] [ 9.58634770e-02 9.95394456e-01 2.64509358e-04 1.49568344e+00] [-1.18350544e-02 8.74084364e-04 9.99929581e-01 -6.46573500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444391417999995 meters 0.04577170864592138 Centerline is valid? [True, True] Translation: X:30.38, Y:1.50, Z:-0.65 [[ 9.95581419e-01 -9.31728608e-02 1.16814236e-02 3.03810261e+01] [ 9.31761898e-02 9.95649602e-01 2.60116642e-04 1.49779438e+00] [-1.16548406e-02 8.29463247e-04 9.99931736e-01 -6.47998953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504391417999997 meters 0.0457726638128472 Centerline is valid? [True, True] Translation: X:30.44, Y:1.50, Z:-0.65 [[ 9.95669202e-01 -9.22248326e-02 1.17226207e-02 3.04430609e+01] [ 9.22280810e-02 9.95737873e-01 2.64337593e-04 1.50047135e+00] [-1.16970359e-02 8.17962009e-04 9.99931253e-01 -6.48864153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564391417999996 meters 0.0485606588804331 Centerline is valid? [True, True] Translation: X:30.50, Y:1.50, Z:-0.65 [[ 9.95616631e-01 -9.26255568e-02 1.29626173e-02 3.05039926e+01] [ 9.26296204e-02 9.95700593e-01 2.87843978e-04 1.49807120e+00] [-1.29335474e-02 9.14140067e-04 9.99915940e-01 -6.50656827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624391417999995 meters 0.05088653830876927 Centerline is valid? [True, True] Translation: X:30.57, Y:1.50, Z:-0.65 [[ 9.95447966e-01 -9.42258316e-02 1.43121913e-02 3.05663030e+01] [ 9.42310293e-02 9.95550308e-01 3.12258209e-04 1.49704427e+00] [-1.42779293e-02 1.03781572e-03 9.99897527e-01 -6.51007671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684391417999997 meters 0.05231795434609513 Centerline is valid? [True, True] Translation: X:30.63, Y:1.50, Z:-0.65 [[ 9.95368397e-01 -9.50955172e-02 1.40924693e-02 3.06279421e+01] [ 9.51006516e-02 9.95467615e-01 3.06874564e-04 1.49582653e+00] [-1.40577791e-02 1.03474977e-03 9.99900649e-01 -6.53321647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744391417999996 meters 0.057058251841632525 Centerline is valid? [True, True] Translation: X:30.69, Y:1.49, Z:-0.66 [[ 9.94987539e-01 -9.91176135e-02 1.32474510e-02 3.06877589e+01] [ 9.91225433e-02 9.95075193e-01 2.85559978e-04 1.48930398e+00] [-1.32105139e-02 1.02899241e-03 9.99912208e-01 -6.56094105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804391417999994 meters 0.05935694641765938 Centerline is valid? [True, True] Translation: X:30.75, Y:1.49, Z:-0.66 [[ 9.94863572e-01 -1.00204764e-01 1.43345450e-02 3.07494235e+01] [ 1.00210617e-01 9.94966198e-01 3.11171441e-04 1.48790591e+00] [-1.42935686e-02 1.12690047e-03 9.99897207e-01 -6.56262599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864391417999997 meters 0.05254948829695045 Centerline is valid? [True, True] Translation: X:30.81, Y:1.50, Z:-0.66 [[ 9.94829419e-01 -1.00494311e-01 1.46738013e-02 3.08110520e+01] [ 1.00500527e-01 9.94936955e-01 3.15050146e-04 1.49662525e+00] [-1.46311679e-02 1.16130361e-03 9.99892284e-01 -6.58319819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924391417999995 meters 0.053283175745693974 Centerline is valid? [True, True] Translation: X:30.87, Y:1.50, Z:-0.66 [[ 9.94708155e-01 -1.01639762e-01 1.50014956e-02 3.08735068e+01] [ 1.01646467e-01 9.94820534e-01 3.16804714e-04 1.49662660e+00] [-1.49559958e-02 1.20972080e-03 9.99887421e-01 -6.57464831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984391417999998 meters 0.05357025407977155 Centerline is valid? [True, True] Translation: X:30.93, Y:1.50, Z:-0.66 [[ 9.95002788e-01 -9.86602946e-02 1.53491792e-02 3.09342941e+01] [ 9.86669871e-02 9.95120456e-01 3.22495449e-04 1.49805082e+00] [-1.53060997e-02 1.19357339e-03 9.99882142e-01 -6.61303138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04439141799999 meters 0.050931851859980386 Centerline is valid? [True, True] Translation: X:31.00, Y:1.50, Z:-0.66 [[ 9.95233396e-01 -9.63230211e-02 1.52434325e-02 3.09960340e+01] [ 9.63293466e-02 9.95349463e-01 3.20438371e-04 1.50116697e+00] [-1.52034079e-02 1.14947892e-03 9.99883761e-01 -6.64143530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10439141799999 meters 0.04369102656646265 Centerline is valid? [True, True] Translation: X:31.06, Y:1.51, Z:-0.66 [[ 9.95619500e-01 -9.22433446e-02 1.52635499e-02 3.10565361e+01] [ 9.22492380e-02 9.95735897e-01 3.19006511e-04 1.51395832e+00] [-1.52278907e-02 1.09044174e-03 9.99883454e-01 -6.62354193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164391417999994 meters 0.04222693585031403 Centerline is valid? [True, True] Translation: X:31.12, Y:1.52, Z:-0.66 [[ 9.96113782e-01 -8.67064309e-02 1.54702633e-02 3.11161224e+01] [ 8.67118253e-02 9.96233384e-01 3.22996540e-04 1.52080912e+00] [-1.54399986e-02 1.01971346e-03 9.99880276e-01 -6.63470077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22439141799999 meters 0.04226227165187375 Centerline is valid? [True, True] Translation: X:31.18, Y:1.52, Z:-0.67 [[ 9.96296031e-01 -8.44331343e-02 1.62869146e-02 3.11769367e+01] [ 8.44387994e-02 9.96428609e-01 3.40754854e-04 1.52065475e+00] [-1.62575187e-02 1.03575481e-03 9.99867301e-01 -6.66135327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28439141799999 meters 0.042614010340647476 Centerline is valid? [True, True] Translation: X:31.24, Y:1.52, Z:-0.67 [[ 9.96294479e-01 -8.42254906e-02 1.74177709e-02 3.12400229e+01] [ 8.42319294e-02 9.96446109e-01 3.64932491e-04 1.52226347e+00] [-1.73866067e-02 1.10355222e-03 9.99848233e-01 -6.67000449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344391417999994 meters 0.04397583134984821 Centerline is valid? [True, True] Translation: X:31.30, Y:1.52, Z:-0.67 [[ 9.96325060e-01 -8.37414758e-02 1.79927897e-02 3.13024011e+01] [ 8.37483769e-02 9.96486865e-01 3.70931628e-04 1.52423338e+00] [-1.79606410e-02 1.13729846e-03 9.99838048e-01 -6.67913137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404391417999996 meters 0.04527827511158982 Centerline is valid? [True, True] Translation: X:31.36, Y:1.52, Z:-0.67 [[ 9.96168206e-01 -8.54787890e-02 1.85008810e-02 3.13646131e+01] [ 8.54864919e-02 9.96339259e-01 3.75551222e-04 1.52410865e+00] [-1.84652557e-02 1.20746323e-03 9.99828774e-01 -6.69745487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46439141799999 meters 0.04716181244919436 Centerline is valid? [True, True] Translation: X:31.43, Y:1.52, Z:-0.67 [[ 9.95729026e-01 -9.02964332e-02 1.92421763e-02 3.14251487e+01] [ 9.03056947e-02 9.95914018e-01 3.88838422e-04 1.52094234e+00] [-1.91986639e-02 1.35050040e-03 9.99814777e-01 -6.71194555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52439141799999 meters 0.045306940612867164 Centerline is valid? [True, True] Translation: X:31.49, Y:1.52, Z:-0.67 [[ 9.95279935e-01 -9.49853795e-02 1.98904297e-02 3.14859382e+01] [ 9.49962092e-02 9.95477553e-01 4.01816633e-04 1.52462569e+00] [-1.98386430e-02 1.48959539e-03 9.99802085e-01 -6.70964833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584391417999996 meters 0.047317875494466644 Centerline is valid? [True, True] Translation: X:31.55, Y:1.52, Z:-0.67 [[ 9.95262036e-01 -9.51788200e-02 1.98613230e-02 3.15481706e+01] [ 9.51896469e-02 9.95459075e-01 4.01702774e-04 1.52243350e+00] [-1.98093678e-02 1.49079281e-03 9.99802664e-01 -6.73402996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64439141799999 meters 0.04899411806972424 Centerline is valid? [True, True] Translation: X:31.61, Y:1.52, Z:-0.68 [[ 9.95229289e-01 -9.55266258e-02 1.98324715e-02 3.16108898e+01] [ 9.55376008e-02 9.95425743e-01 3.95512050e-04 1.51930340e+00] [-1.97795346e-02 1.50112157e-03 9.99803239e-01 -6.75869959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70439141799999 meters 0.050851610624573856 Centerline is valid? [True, True] Translation: X:31.67, Y:1.52, Z:-0.68 [[ 9.95242425e-01 -9.53735007e-02 1.99100466e-02 3.16744483e+01] [ 9.53846407e-02 9.95440414e-01 3.91552280e-04 1.51743740e+00] [-1.98566088e-02 1.50942320e-03 9.99801699e-01 -6.76988869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764391417999995 meters 0.050070417781136106 Centerline is valid? [True, True] Translation: X:31.74, Y:1.52, Z:-0.68 [[ 9.95368758e-01 -9.38501397e-02 2.08131294e-02 3.17368604e+01] [ 9.38621257e-02 9.95585124e-01 4.02414554e-04 1.51924882e+00] [-2.07590086e-02 1.55301369e-03 9.99783302e-01 -6.78140057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82439141799999 meters 0.04726896691894156 Centerline is valid? [True, True] Translation: X:31.80, Y:1.52, Z:-0.68 [[ 9.95505255e-01 -9.21204269e-02 2.19798691e-02 3.17986346e+01] [ 9.21335154e-02 9.95746574e-01 4.18598844e-04 1.52280421e+00] [-2.19249408e-02 1.60836526e-03 9.99758326e-01 -6.78833659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88439141799999 meters 0.04608938769057904 Centerline is valid? [True, True] Translation: X:31.86, Y:1.53, Z:-0.68 [[ 9.95536835e-01 -9.17579924e-02 2.20653631e-02 3.18620410e+01] [ 9.17711239e-02 9.95780039e-01 4.18890865e-04 1.52521181e+00] [-2.20106847e-02 1.60794188e-03 9.99756442e-01 -6.79529591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944391417999995 meters 0.04407039312605358 Centerline is valid? [True, True] Translation: X:31.92, Y:1.53, Z:-0.68 [[ 9.95599253e-01 -9.10301966e-02 2.22627873e-02 3.19241910e+01] [ 9.10435444e-02 9.95846826e-01 4.15381321e-04 1.52776688e+00] [-2.22081383e-02 1.61332973e-03 9.99752067e-01 -6.80954604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00439141799999 meters 0.05111777481437588 Centerline is valid? [True, True] Translation: X:31.99, Y:1.52, Z:-0.69 [[ 9.95487407e-01 -9.26494906e-02 2.05157062e-02 3.19853430e+01] [ 9.26612825e-02 9.95697617e-01 3.77133988e-04 1.51691513e+00] [-2.04623810e-02 1.52557951e-03 9.99789460e-01 -6.86052654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06439141799999 meters 0.04925166137145507 Centerline is valid? [True, True] Translation: X:32.05, Y:1.52, Z:-0.68 [[ 9.95045015e-01 -9.70198946e-02 2.17384171e-02 3.20455342e+01] [ 9.70342373e-02 9.95280965e-01 3.96544024e-04 1.51836325e+00] [-2.16743054e-02 1.71479157e-03 9.99763614e-01 -6.84582826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124391417999995 meters 0.052213930124977395 Centerline is valid? [True, True] Translation: X:32.11, Y:1.51, Z:-0.69 [[ 9.94847719e-01 -9.88994238e-02 2.22917142e-02 3.21072195e+01] [ 9.89149851e-02 9.95095805e-01 4.06177114e-04 1.51373760e+00] [-2.22225620e-02 1.80090020e-03 9.99751426e-01 -6.85293493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18439141799999 meters 0.05205304335546278 Centerline is valid? [True, True] Translation: X:32.17, Y:1.51, Z:-0.69 [[ 9.94655168e-01 -1.00657937e-01 2.30016486e-02 3.21679001e+01] [ 1.00674994e-01 9.94919278e-01 4.18186075e-04 1.51203692e+00] [-2.29268774e-02 1.89973990e-03 9.99735340e-01 -6.87149411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24439141799999 meters 0.049803026480212224 Centerline is valid? [True, True] Translation: X:32.23, Y:1.51, Z:-0.69 [[ 9.94680148e-01 -1.00674444e-01 2.18187989e-02 3.22297780e+01] [ 1.00689802e-01 9.94917789e-01 3.96323926e-04 1.51320868e+00] [-2.17478108e-02 1.80271501e-03 9.99761863e-01 -6.90109259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304391417999994 meters 0.050822947271861006 Centerline is valid? [True, True] Translation: X:32.29, Y:1.51, Z:-0.69 [[ 9.95083970e-01 -9.70566505e-02 1.96951763e-02 3.22897136e+01] [ 9.70685736e-02 9.95277634e-01 3.51960607e-04 1.51433160e+00] [-1.96363285e-02 1.56155231e-03 9.99805969e-01 -6.92633440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36439141799999 meters 0.047930027643817805 Centerline is valid? [True, True] Translation: X:32.35, Y:1.52, Z:-0.69 [[ 9.95485087e-01 -9.29158143e-02 1.93931218e-02 3.23503694e+01] [ 9.29265885e-02 9.95672903e-01 3.46797073e-04 1.51846541e+00] [-1.93414288e-02 1.45690533e-03 9.99811876e-01 -6.94757944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42439141799999 meters 0.04627230859238201 Centerline is valid? [True, True] Translation: X:32.41, Y:1.52, Z:-0.69 [[ 9.96086755e-01 -8.59614717e-02 2.05378315e-02 3.24100723e+01] [ 8.59720866e-02 9.96297478e-01 3.67166399e-04 1.52338430e+00] [-2.04933519e-02 1.39995064e-03 9.99789009e-01 -6.94512284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484391417999994 meters 0.04173541254689164 Centerline is valid? [True, True] Translation: X:32.47, Y:1.54, Z:-0.69 [[ 9.96777541e-01 -7.72414407e-02 2.16401051e-02 3.24707867e+01] [ 7.72511771e-02 9.97011588e-01 3.86923999e-04 1.53528120e+00] [-2.16053221e-02 1.28604644e-03 9.99765751e-01 -6.93394262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54439141799999 meters 0.04009180232569848 Centerline is valid? [True, True] Translation: X:32.53, Y:1.54, Z:-0.70 [[ 9.97118757e-01 -7.28311511e-02 2.12086614e-02 3.25317895e+01] [ 7.28395125e-02 9.97343603e-01 3.79015116e-04 1.53982037e+00] [-2.11799269e-02 1.16690548e-03 9.99774999e-01 -6.95805038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60439141799999 meters 0.035916686830814774 Centerline is valid? [True, True] Translation: X:32.59, Y:1.55, Z:-0.70 [[ 9.97411667e-01 -6.89710151e-02 2.03215720e-02 3.25927750e+01] [ 6.89778994e-02 9.97618122e-01 3.62813093e-04 1.54905152e+00] [-2.02981921e-02 1.03986534e-03 9.99793430e-01 -7.00104956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664391417999994 meters 0.03372611444183651 Centerline is valid? [True, True] Translation: X:32.66, Y:1.55, Z:-0.70 [[ 9.97497098e-01 -6.75953764e-02 2.07462127e-02 3.26553002e+01] [ 6.76022580e-02 9.97712282e-01 3.70242722e-04 1.55489695e+00] [-2.07237779e-02 1.03317478e-03 9.99784706e-01 -6.98776578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72439141799999 meters 0.03518640070112849 Centerline is valid? [True, True] Translation: X:32.72, Y:1.56, Z:-0.70 [[ 9.97495466e-01 -6.76890748e-02 2.05179150e-02 3.27171007e+01] [ 6.76959404e-02 9.97705933e-01 3.60560506e-04 1.55533168e+00] [-2.04952516e-02 1.02932208e-03 9.99789420e-01 -7.01437292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78439141799999 meters 0.03500689927780761 Centerline is valid? [True, True] Translation: X:32.78, Y:1.56, Z:-0.70 [[ 9.97204655e-01 -7.20923818e-02 1.96357928e-02 3.27778715e+01] [ 7.20996318e-02 9.97397377e-01 3.39383151e-04 1.55679999e+00] [-1.96091552e-02 1.07729898e-03 9.99807142e-01 -7.03601745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844391417999994 meters 0.03636898142895195 Centerline is valid? [True, True] Translation: X:32.84, Y:1.56, Z:-0.70 [[ 9.96941367e-01 -7.57914982e-02 1.90672247e-02 3.28392556e+01] [ 7.57990143e-02 9.97123062e-01 3.29245735e-04 1.55676623e+00] [-1.90373235e-02 1.11703815e-03 9.99818150e-01 -7.04946676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90439141799999 meters 0.03955433599193366 Centerline is valid? [True, True] Translation: X:32.90, Y:1.55, Z:-0.71 [[ 9.96687979e-01 -7.91564390e-02 1.86368053e-02 3.29007507e+01] [ 7.91642192e-02 9.96861537e-01 3.21072475e-04 1.55201759e+00] [-1.86037293e-02 1.15535906e-03 9.99826268e-01 -7.09597427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96439141799999 meters 0.04086159795988497 Centerline is valid? [True, True] Translation: X:32.96, Y:1.55, Z:-0.71 [[ 9.96518911e-01 -8.12458284e-02 1.86862403e-02 3.29620231e+01] [ 8.12540299e-02 9.96693373e-01 3.21163370e-04 1.55180888e+00] [-1.86505450e-02 1.19828695e-03 9.99825345e-01 -7.08537843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02439141799999 meters 0.04189947671642882 Centerline is valid? [True, True] Translation: X:33.02, Y:1.55, Z:-0.71 [[ 9.96750657e-01 -7.88451813e-02 1.64792189e-02 3.30228418e+01] [ 7.88512418e-02 9.96886353e-01 2.82671604e-04 1.55459915e+00] [-1.64501958e-02 1.01765377e-03 9.99864168e-01 -7.12390088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084391417999996 meters 0.04048413963416489 Centerline is valid? [True, True] Translation: X:33.08, Y:1.56, Z:-0.72 [[ 9.97022093e-01 -7.53599965e-02 1.63651326e-02 3.30832904e+01] [ 7.53655197e-02 9.97155936e-01 2.79844716e-04 1.55814378e+00] [-1.63396782e-02 9.54355357e-04 9.99866043e-01 -7.15147185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14439141799999 meters 0.037262705760113195 Centerline is valid? [True, True] Translation: X:33.14, Y:1.56, Z:-0.71 [[ 9.97160363e-01 -7.33289510e-02 1.71486035e-02 3.31446326e+01] [ 7.33347131e-02 9.97307342e-01 2.93437311e-04 1.56475510e+00] [-1.71239456e-02 9.64983859e-04 9.99852909e-01 -7.13726114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20439141799999 meters 0.03363521407466612 Centerline is valid? [True, True] Translation: X:33.21, Y:1.57, Z:-0.71 [[ 9.97444436e-01 -6.91057802e-02 1.81380143e-02 3.32051953e+01] [ 6.91115452e-02 9.97608891e-01 3.09540389e-04 1.57396831e+00] [-1.81160353e-02 9.44796856e-04 9.99835445e-01 -7.13210003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264391417999995 meters 0.02962475704786048 Centerline is valid? [True, True] Translation: X:33.27, Y:1.58, Z:-0.71 [[ 9.97991486e-01 -6.04381894e-02 1.89794340e-02 3.32660297e+01] [ 6.04429477e-02 9.98171601e-01 3.23354119e-04 1.58422346e+00] [-1.89642750e-02 8.24468281e-04 9.99819822e-01 -7.13447362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32439141799999 meters 0.026405775819059816 Centerline is valid? [True, True] Translation: X:33.33, Y:1.59, Z:-0.71 [[ 9.98387826e-01 -5.30253512e-02 2.02499750e-02 3.33269944e+01] [ 5.30292539e-02 9.98592900e-01 3.44582362e-04 1.59342521e+00] [-2.02397529e-02 7.29814231e-04 9.99794889e-01 -7.13146861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38439141799999 meters 0.02287008380518582 Centerline is valid? [True, True] Translation: X:33.39, Y:1.61, Z:-0.71 [[ 9.98647811e-01 -4.81661256e-02 1.95595039e-02 3.33879475e+01] [ 4.81688372e-02 9.98839152e-01 3.32740446e-04 1.60506240e+00] [-1.95528251e-02 6.09868041e-04 9.99808639e-01 -7.14260106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444391417999995 meters 0.02210713129899924 Centerline is valid? [True, True] Translation: X:33.45, Y:1.61, Z:-0.72 [[ 9.98786946e-01 -4.58722825e-02 1.78988660e-02 3.34501354e+01] [ 4.58741790e-02 9.98947179e-01 3.04826518e-04 1.60908166e+00] [-1.78940048e-02 5.16639034e-04 9.99839756e-01 -7.18281074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50439141799999 meters 0.02323415854845716 Centerline is valid? [True, True] Translation: X:33.51, Y:1.61, Z:-0.72 [[ 9.98794617e-01 -4.61533384e-02 1.67087651e-02 3.35112031e+01] [ 4.61551030e-02 9.98934246e-01 2.80207271e-04 1.61093913e+00] [-1.67038902e-02 4.91325260e-04 9.99860360e-01 -7.21888749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56439141799999 meters 0.024838097753874872 Centerline is valid? [True, True] Translation: X:33.57, Y:1.61, Z:-0.72 [[ 9.98618345e-01 -4.99941117e-02 1.61860702e-02 3.35727848e+01] [ 4.99963341e-02 9.98749365e-01 2.67567432e-04 1.61455007e+00] [-1.61792042e-02 5.42046429e-04 9.99868961e-01 -7.23800244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624391417999995 meters 0.027883911029097003 Centerline is valid? [True, True] Translation: X:33.63, Y:1.61, Z:-0.72 [[ 9.98267840e-01 -5.60564908e-02 1.78602528e-02 3.36328362e+01] [ 5.60602785e-02 9.98427344e-01 2.88916924e-04 1.61194393e+00] [-1.78483605e-02 7.12834274e-04 9.99840451e-01 -7.22734768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68439141799999 meters 0.030443936582527305 Centerline is valid? [True, True] Translation: X:33.69, Y:1.61, Z:-0.72 [[ 9.98047144e-01 -5.96820640e-02 1.84376984e-02 3.36938049e+01] [ 5.96867145e-02 9.98217114e-01 2.98453024e-04 1.61118649e+00] [-1.84226384e-02 8.02615451e-04 9.99829967e-01 -7.23746851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74439141799999 meters 0.03288954472899849 Centerline is valid? [True, True] Translation: X:33.75, Y:1.61, Z:-0.73 [[ 9.97682308e-01 -6.55300314e-02 1.83256077e-02 3.37549341e+01] [ 6.55356304e-02 9.97850186e-01 2.95489467e-04 1.61008534e+00] [-1.83055745e-02 9.06175640e-04 9.99832028e-01 -7.25026214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804391417999994 meters 0.03559103409882898 Centerline is valid? [True, True] Translation: X:33.82, Y:1.61, Z:-0.73 [[ 9.97176527e-01 -7.30671777e-02 1.73251510e-02 3.38156903e+01] [ 7.30733181e-02 9.97326532e-01 2.79210295e-04 1.60761819e+00] [-1.72992339e-02 9.87584318e-04 9.99849869e-01 -7.26799937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86439141799999 meters 0.03756211879721437 Centerline is valid? [True, True] Translation: X:33.88, Y:1.60, Z:-0.73 [[ 9.97037417e-01 -7.53567028e-02 1.54193783e-02 3.38764326e+01] [ 7.53618402e-02 9.97156222e-01 2.48431609e-04 1.60422806e+00] [-1.53942500e-02 9.14337113e-04 9.99881083e-01 -7.30289871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92439141799999 meters 0.03947783053645576 Centerline is valid? [True, True] Translation: X:33.94, Y:1.60, Z:-0.73 [[ 9.96984315e-01 -7.62529243e-02 1.44141577e-02 3.39387768e+01] [ 7.62574821e-02 9.97088131e-01 2.33954855e-04 1.60321737e+00] [-1.43900253e-02 8.65938049e-04 9.99896083e-01 -7.34178078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984391417999994 meters 0.03814440620709271 Centerline is valid? [True, True] Translation: X:34.00, Y:1.61, Z:-0.73 [[ 9.96908917e-01 -7.70160690e-02 1.55285808e-02 3.40005965e+01] [ 7.70215389e-02 9.97029399e-01 2.46392709e-04 1.60528809e+00] [-1.55014278e-02 9.50404105e-04 9.99879394e-01 -7.31496672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04439141799999 meters 0.03942328774446236 Centerline is valid? [True, True] Translation: X:34.06, Y:1.60, Z:-0.73 [[ 9.97013985e-01 -7.55933751e-02 1.57719805e-02 3.40623279e+01] [ 7.55988662e-02 9.97138280e-01 2.48612448e-04 1.60432308e+00] [-1.57456389e-02 9.44473753e-04 9.99875584e-01 -7.33582830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10439141799999 meters 0.037264534089405346 Centerline is valid? [True, True] Translation: X:34.12, Y:1.61, Z:-0.73 [[ 9.97103697e-01 -7.41702283e-02 1.68224581e-02 3.41249616e+01] [ 7.41763748e-02 9.97245104e-01 2.59151082e-04 1.60872510e+00] [-1.67953353e-02 9.89428454e-04 9.99858459e-01 -7.34262559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164391417999994 meters 0.03664110886319177 Centerline is valid? [True, True] Translation: X:34.19, Y:1.61, Z:-0.74 [[ 9.97135235e-01 -7.37874601e-02 1.66353045e-02 3.41881426e+01] [ 7.37934247e-02 9.97273516e-01 2.55830590e-04 1.61109455e+00] [-1.66088257e-02 9.72478398e-04 9.99861591e-01 -7.35161051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22439141799999 meters 0.03760655707854494 Centerline is valid? [True, True] Translation: X:34.25, Y:1.61, Z:-0.74 [[ 9.96970476e-01 -7.60549350e-02 1.62946618e-02 3.42495150e+01] [ 7.60610702e-02 9.97103131e-01 2.43786053e-04 1.60994465e+00] [-1.62659994e-02 9.96341916e-04 9.99867203e-01 -7.36306486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28439141799999 meters 0.04070441951028359 Centerline is valid? [True, True] Translation: X:34.31, Y:1.60, Z:-0.74 [[ 9.96648611e-01 -8.02932191e-02 1.56379420e-02 3.43106730e+01] [ 8.02994015e-02 9.96770762e-01 2.33165653e-04 1.60383399e+00] [-1.56061650e-02 1.02333316e-03 9.99877693e-01 -7.40198387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344391417999994 meters 0.04490059064196157 Centerline is valid? [True, True] Translation: X:34.37, Y:1.60, Z:-0.74 [[ 9.96348025e-01 -8.38601929e-02 1.60648850e-02 3.43704000e+01] [ 8.38671830e-02 9.96476913e-01 2.39283211e-04 1.59664597e+00] [-1.60283534e-02 1.10890730e-03 9.99870923e-01 -7.42380963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40439141799999 meters 0.04681158358902662 Centerline is valid? [True, True] Translation: X:34.43, Y:1.59, Z:-0.74 [[ 9.96226790e-01 -8.54340769e-02 1.52709392e-02 3.44321830e+01] [ 8.54405505e-02 9.96343244e-01 2.29186517e-04 1.59366388e+00] [-1.52346775e-02 1.07643571e-03 9.99883366e-01 -7.41317847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46439141799999 meters 0.04641077095497696 Centerline is valid? [True, True] Translation: X:34.49, Y:1.59, Z:-0.74 [[ 9.96369472e-01 -8.36929026e-02 1.56004280e-02 3.44935382e+01] [ 8.36995318e-02 9.96491012e-01 2.28638522e-04 1.59485895e+00] [-1.55648217e-02 1.07794008e-03 9.99878280e-01 -7.40967168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52439141799999 meters 0.04626175647325885 Centerline is valid? [True, True] Translation: X:34.56, Y:1.60, Z:-0.74 [[ 9.96445444e-01 -8.27288954e-02 1.58873426e-02 3.45560864e+01] [ 8.27356362e-02 9.96571503e-01 2.33638269e-04 1.59504027e+00] [-1.58522015e-02 1.08164161e-03 9.99873761e-01 -7.42136142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58439141799999 meters 0.045794486667417374 Centerline is valid? [True, True] Translation: X:34.62, Y:1.59, Z:-0.74 [[ 9.96637900e-01 -8.03107681e-02 1.62196396e-02 3.46172124e+01] [ 8.03175707e-02 9.96769298e-01 2.32620146e-04 1.59421772e+00] [-1.61859207e-02 1.07088400e-03 9.99868426e-01 -7.42732396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64439141799999 meters 0.03982929833676202 Centerline is valid? [True, True] Translation: X:34.68, Y:1.60, Z:-0.74 [[ 9.96845987e-01 -7.78975048e-02 1.51676477e-02 3.46787128e+01] [ 7.79031809e-02 9.96960906e-01 2.17155636e-04 1.60396286e+00] [-1.51384677e-02 9.65137276e-04 9.99884941e-01 -7.43263281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70439141799999 meters 0.037421283468912526 Centerline is valid? [True, True] Translation: X:34.74, Y:1.61, Z:-0.75 [[ 9.97088925e-01 -7.50704433e-02 1.33455409e-02 3.47399983e+01] [ 7.50745960e-02 9.97177902e-01 1.90240821e-04 1.60676162e+00] [-1.33221600e-02 8.12224079e-04 9.99910926e-01 -7.46475435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764391417999995 meters 0.037905897894860506 Centerline is valid? [True, True] Translation: X:34.80, Y:1.60, Z:-0.75 [[ 9.97205302e-01 -7.35570634e-02 1.30745233e-02 3.48025261e+01] [ 7.35608980e-02 9.97290709e-01 1.88029174e-04 1.60452588e+00] [-1.30529315e-02 7.74269987e-04 9.99914507e-01 -7.47585394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82439141799999 meters 0.03834241244871386 Centerline is valid? [True, True] Translation: X:34.87, Y:1.60, Z:-0.75 [[ 9.97201208e-01 -7.35086770e-02 1.36464653e-02 3.48656956e+01] [ 7.35129022e-02 9.97294248e-01 1.92417776e-04 1.60360901e+00] [-1.36236857e-02 8.11312033e-04 9.99906864e-01 -7.46016888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88439141799999 meters 0.039507062067161085 Centerline is valid? [True, True] Translation: X:34.93, Y:1.60, Z:-0.75 [[ 9.97248842e-01 -7.27801468e-02 1.40640169e-02 3.49271617e+01] [ 7.27846471e-02 9.97347662e-01 1.92272480e-04 1.60071693e+00] [-1.40407080e-02 8.31901000e-04 9.99901078e-01 -7.47783237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944391417999995 meters 0.03805453623950465 Centerline is valid? [True, True] Translation: X:34.99, Y:1.60, Z:-0.75 [[ 9.97298330e-01 -7.21311603e-02 1.38973900e-02 3.49893769e+01] [ 7.21355080e-02 9.97394823e-01 1.88829108e-04 1.60011359e+00] [-1.38748053e-02 8.14176331e-04 9.99903409e-01 -7.50208396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00439141799999 meters 0.03888572264523385 Centerline is valid? [True, True] Translation: X:35.05, Y:1.60, Z:-0.75 [[ 9.97312478e-01 -7.18942402e-02 1.41081691e-02 3.50523278e+01] [ 7.18987500e-02 9.97411918e-01 1.87943703e-04 1.59875326e+00] [-1.40851680e-02 8.26921121e-04 9.99900457e-01 -7.50573765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06439141799999 meters 0.038603844808463385 Centerline is valid? [True, True] Translation: X:35.11, Y:1.60, Z:-0.75 [[ 9.97365328e-01 -7.11007951e-02 1.43902855e-02 3.51149266e+01] [ 7.11054768e-02 9.97468785e-01 1.86690828e-04 1.59868540e+00] [-1.43671344e-02 8.37029152e-04 9.99896437e-01 -7.51478174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124391417999995 meters 0.039378707654624444 Centerline is valid? [True, True] Translation: X:35.18, Y:1.59, Z:-0.75 [[ 9.97438871e-01 -7.00662319e-02 1.43673672e-02 3.51758694e+01] [ 7.00708622e-02 9.97542000e-01 1.81480116e-04 1.59475587e+00] [-1.43447679e-02 8.25718488e-04 9.99896768e-01 -7.53368273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18439141799999 meters 0.03878141846510061 Centerline is valid? [True, True] Translation: X:35.24, Y:1.60, Z:-0.76 [[ 9.97563833e-01 -6.83556107e-02 1.39251699e-02 3.52377192e+01] [ 6.83598341e-02 9.97660715e-01 1.73020656e-04 1.59564099e+00] [-1.39044219e-02 7.79323158e-04 9.99903025e-01 -7.55315102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24439141799999 meters 0.03463854828039825 Centerline is valid? [True, True] Translation: X:35.30, Y:1.60, Z:-0.76 [[ 9.97875817e-01 -6.37523799e-02 1.33973282e-02 3.52985730e+01] [ 6.37558895e-02 9.97965510e-01 1.65401284e-04 1.60191254e+00] [-1.33806162e-02 6.89108633e-04 9.99910238e-01 -7.59059262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304391417999994 meters 0.03108089886788813 Centerline is valid? [True, True] Translation: X:35.36, Y:1.61, Z:-0.76 [[ 9.98062554e-01 -6.03081939e-02 1.52990477e-02 3.53605219e+01] [ 6.03123686e-02 9.98179534e-01 1.88784737e-04 1.60623520e+00] [-1.52825815e-02 7.34302825e-04 9.99882945e-01 -7.57354121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36439141799999 meters 0.03050051693375775 Centerline is valid? [True, True] Translation: X:35.42, Y:1.61, Z:-0.76 [[ 9.98203262e-01 -5.79053940e-02 1.54017496e-02 3.54215152e+01] [ 5.79093563e-02 9.98321827e-01 1.88965993e-04 1.60728247e+00] [-1.53868449e-02 7.03278934e-04 9.99881368e-01 -7.59731134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42439141799999 meters 0.029611952066272897 Centerline is valid? [True, True] Translation: X:35.48, Y:1.61, Z:-0.76 [[ 9.98363564e-01 -5.46687769e-02 1.67785148e-02 3.54825411e+01] [ 5.46730361e-02 9.98504290e-01 2.05085549e-04 1.60593095e+00] [-1.67646307e-02 7.12582404e-04 9.99859210e-01 -7.59663636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484391417999994 meters 0.027101000869190494 Centerline is valid? [True, True] Translation: X:35.54, Y:1.61, Z:-0.76 [[ 9.98568077e-01 -5.10978114e-02 1.58369862e-02 3.55444159e+01] [ 5.11011648e-02 9.98693463e-01 1.93115808e-04 1.60901048e+00] [-1.58261624e-02 6.16449163e-04 9.99874568e-01 -7.61452063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54439141799999 meters 0.025909107826264325 Centerline is valid? [True, True] Translation: X:35.61, Y:1.61, Z:-0.76 [[ 9.98715750e-01 -4.80048614e-02 1.61982678e-02 3.56062083e+01] [ 4.80079798e-02 9.98846933e-01 1.96509296e-04 1.61017752e+00] [-1.61890236e-02 5.81389186e-04 9.99868780e-01 -7.62295795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60439141799999 meters 0.02370775240429218 Centerline is valid? [True, True] Translation: X:35.67, Y:1.61, Z:-0.76 [[ 9.98999213e-01 -4.18395204e-02 1.58122355e-02 3.56665191e+01] [ 4.18417406e-02 9.99124233e-01 1.90538859e-04 1.61134439e+00] [-1.58063597e-02 4.71263285e-04 9.99874961e-01 -7.64936866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664391417999994 meters 0.020241728251336574 Centerline is valid? [True, True] Translation: X:35.73, Y:1.62, Z:-0.76 [[ 9.99215929e-01 -3.59670152e-02 1.65499836e-02 3.57279237e+01] [ 3.59686387e-02 9.99352899e-01 1.99652216e-04 1.61822494e+00] [-1.65464550e-02 3.95784707e-04 9.99863020e-01 -7.64667470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72439141799999 meters 0.01670118300897293 Centerline is valid? [True, True] Translation: X:35.79, Y:1.63, Z:-0.77 [[ 9.99567595e-01 -2.51675478e-02 1.52058532e-02 3.57889686e+01] [ 2.51676791e-02 9.99683227e-01 1.82754660e-04 1.62667108e+00] [-1.52056359e-02 2.00020397e-04 9.99884368e-01 -7.66600149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78439141799999 meters 0.01560987935205726 Centerline is valid? [True, True] Translation: X:35.85, Y:1.63, Z:-0.77 [[ 9.99732623e-01 -1.73720551e-02 1.52608878e-02 3.58515952e+01] [ 1.73712700e-02 9.99849091e-01 1.84014122e-04 1.63018721e+00] [-1.52617815e-02 8.11360806e-05 9.99883529e-01 -7.68164232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844391417999994 meters 0.015775379364347843 Centerline is valid? [True, True] Translation: X:35.91, Y:1.64, Z:-0.77 [[ 9.99841468e-01 -6.15853094e-03 1.67066314e-02 3.59132439e+01] [ 6.15607305e-03 9.99981031e-01 1.98544018e-04 1.63774014e+00] [-1.67075373e-02 -9.56652991e-05 9.99860415e-01 -7.66940593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90439141799999 meters 0.016466839225308824 Centerline is valid? [True, True] Translation: X:35.98, Y:1.64, Z:-0.77 [[ 9.99853628e-01 -3.28284707e-04 1.71059900e-02 3.59751122e+01] [ 3.24908771e-04 9.99999927e-01 2.00132796e-04 1.64043720e+00] [-1.71060544e-02 -1.94545616e-04 9.99853662e-01 -7.67392619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96439141799999 meters 0.017813519583054542 Centerline is valid? [True, True] Translation: X:36.04, Y:1.64, Z:-0.77 [[ 9.99853567e-01 3.08751993e-03 1.68318418e-02 3.60364651e+01] [-3.09124822e-03 9.99995203e-01 1.95489406e-04 1.63767527e+00] [-1.68311575e-02 -2.47492181e-04 9.99858315e-01 -7.70732147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02439141799999 meters 0.016555235308117252 Centerline is valid? [True, True] Translation: X:36.10, Y:1.63, Z:-0.77 [[ 9.99853991e-01 1.59693161e-03 1.70131466e-02 3.60989226e+01] [-1.60052691e-03 9.99998700e-01 1.97710522e-04 1.63242047e+00] [-1.70128087e-02 -2.24911654e-04 9.99855246e-01 -7.71372429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08439141799999 meters 0.015102739259922802 Centerline is valid? [True, True] Translation: X:36.16, Y:1.62, Z:-0.77 [[ 9.99840747e-01 -5.08098526e-03 1.71074583e-02 3.61617852e+01] [ 5.07842209e-03 9.99987086e-01 1.93267525e-04 1.62466713e+00] [-1.71082193e-02 -1.06357853e-04 9.99853638e-01 -7.71856090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14439141799999 meters 0.015270966114159111 Centerline is valid? [True, True] Translation: X:36.22, Y:1.61, Z:-0.78 [[ 9.99741012e-01 -1.64911931e-02 1.56827651e-02 3.62240217e+01] [ 1.64904636e-02 9.99864008e-01 1.75842574e-04 1.60787200e+00] [-1.56835322e-02 8.28190343e-05 9.99877002e-01 -7.75792694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20439141799999 meters 0.018407714559637297 Centerline is valid? [True, True] Translation: X:36.29, Y:1.59, Z:-0.78 [[ 9.99555044e-01 -2.56059969e-02 1.52986105e-02 3.62855018e+01] [ 2.56064422e-02 9.99672087e-01 1.66805099e-04 1.59436627e+00] [-1.52978651e-02 2.25012109e-04 9.99882955e-01 -7.78809647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26439141799999 meters 0.021371001914240573 Centerline is valid? [True, True] Translation: X:36.35, Y:1.58, Z:-0.78 [[ 9.99143585e-01 -3.77896662e-02 1.68534001e-02 3.63471472e+01] [ 3.77920396e-02 9.99285610e-01 1.77750449e-04 1.58165401e+00] [-1.68480773e-02 4.59326141e-04 9.99857956e-01 -7.77837396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32439141799999 meters 0.024278153974287245 Centerline is valid? [True, True] Translation: X:36.41, Y:1.57, Z:-0.78 [[ 9.98951744e-01 -4.20694981e-02 1.80435602e-02 3.64082617e+01] [ 4.20729144e-02 9.99114525e-01 1.90393627e-04 1.57244012e+00] [-1.80355929e-02 5.68951119e-04 9.99837184e-01 -7.78945793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38439141799999 meters 0.02416925815045579 Centerline is valid? [True, True] Translation: X:36.47, Y:1.57, Z:-0.78 [[ 9.98884987e-01 -4.35535885e-02 1.82172338e-02 3.64703163e+01] [ 4.35574148e-02 9.99050908e-01 1.86882495e-04 1.57131029e+00] [-1.82080834e-02 6.06821491e-04 9.99834035e-01 -7.79843004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444391417999995 meters 0.026163253006421777 Centerline is valid? [True, True] Translation: X:36.53, Y:1.57, Z:-0.78 [[ 9.98779048e-01 -4.60316001e-02 1.79305369e-02 3.65313688e+01] [ 4.60357178e-02 9.98939778e-01 1.83255937e-04 1.56583658e+00] [-1.79199621e-02 6.42412949e-04 9.99839218e-01 -7.80745448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50439141799999 meters 0.028696420805215263 Centerline is valid? [True, True] Translation: X:36.59, Y:1.56, Z:-0.79 [[ 9.98708989e-01 -4.82693885e-02 1.58246803e-02 3.65935799e+01] [ 4.82729466e-02 9.98834169e-01 1.57273969e-04 1.55991194e+00] [-1.58138229e-02 6.06833019e-04 9.99874770e-01 -7.85138748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56439141799999 meters 0.028283571695369724 Centerline is valid? [True, True] Translation: X:36.66, Y:1.56, Z:-0.79 [[ 9.98562026e-01 -5.10078452e-02 1.64948718e-02 3.66553640e+01] [ 5.10121016e-02 9.98698022e-01 1.62870504e-04 1.55614969e+00] [-1.64817035e-02 6.78801775e-04 9.99863937e-01 -7.86259889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624391417999995 meters 0.03143297131559676 Centerline is valid? [True, True] Translation: X:36.72, Y:1.55, Z:-0.79 [[ 9.98417030e-01 -5.40406433e-02 1.55898675e-02 3.67152893e+01] [ 5.40448576e-02 9.98538497e-01 1.51155142e-04 1.55111867e+00] [-1.55752514e-02 6.91636302e-04 9.99878459e-01 -7.89053914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68439141799999 meters 0.03239938280190506 Centerline is valid? [True, True] Translation: X:36.78, Y:1.55, Z:-0.79 [[ 9.98390551e-01 -5.46990820e-02 1.49772255e-02 3.67770864e+01] [ 5.47030374e-02 9.98502657e-01 1.45756692e-04 1.55066766e+00] [-1.49627722e-02 6.73777620e-04 9.99887824e-01 -7.91502033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74439141799999 meters 0.03037717541580145 Centerline is valid? [True, True] Translation: X:36.84, Y:1.55, Z:-0.79 [[ 9.98397729e-01 -5.49252584e-02 1.36084663e-02 3.68389496e+01] [ 5.49285563e-02 9.98490279e-01 1.31585506e-04 1.55469409e+00] [-1.35951487e-02 6.16118737e-04 9.99907392e-01 -7.94097244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804391417999994 meters 0.031931024210760016 Centerline is valid? [True, True] Translation: X:36.90, Y:1.55, Z:-0.79 [[ 9.98344649e-01 -5.56823692e-02 1.44025926e-02 3.69004446e+01] [ 5.56861408e-02 9.98448313e-01 1.39342306e-04 1.55374383e+00] [-1.43880032e-02 6.62913153e-04 9.99896268e-01 -7.94200206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86439141799999 meters 0.0326189350395326 Centerline is valid? [True, True] Translation: X:36.96, Y:1.55, Z:-0.79 [[ 9.98248452e-01 -5.70804581e-02 1.55515009e-02 3.69628021e+01] [ 5.70851121e-02 9.98369305e-01 1.44839567e-04 1.55407820e+00] [-1.55344087e-02 7.43173298e-04 9.99879058e-01 -7.93265596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92439141799999 meters 0.03378208789965038 Centerline is valid? [True, True] Translation: X:37.03, Y:1.55, Z:-0.79 [[ 9.98190045e-01 -5.77908329e-02 1.66389200e-02 3.70254546e+01] [ 5.77962829e-02 9.98328386e-01 1.53534662e-04 1.55487102e+00] [-1.66199790e-02 8.08410955e-04 9.99861552e-01 -7.93452580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984391417999994 meters 0.03585883040002606 Centerline is valid? [True, True] Translation: X:37.09, Y:1.55, Z:-0.79 [[ 9.98116495e-01 -5.87937630e-02 1.75144284e-02 3.70870399e+01] [ 5.87999677e-02 9.98269772e-01 1.60932480e-04 1.55265368e+00] [-1.74935863e-02 8.69218464e-04 9.99846598e-01 -7.94113724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04439141799999 meters 0.032890394146954896 Centerline is valid? [True, True] Translation: X:37.15, Y:1.56, Z:-0.80 [[ 9.98104987e-01 -5.92423651e-02 1.66365981e-02 3.71486556e+01] [ 5.92480977e-02 9.98243277e-01 1.48518055e-04 1.55862501e+00] [-1.66161707e-02 8.37450176e-04 9.99861591e-01 -7.96493133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10439141799999 meters 0.036139618484903435 Centerline is valid? [True, True] Translation: X:37.21, Y:1.56, Z:-0.80 [[ 9.98079640e-01 -5.99792461e-02 1.54765349e-02 3.72096294e+01] [ 5.99843178e-02 9.98199310e-01 1.36710764e-04 1.55641629e+00] [-1.54568662e-02 7.91901155e-04 9.99880222e-01 -7.97716882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164391417999994 meters 0.03321720197991161 Centerline is valid? [True, True] Translation: X:37.27, Y:1.56, Z:-0.80 [[ 9.98101366e-01 -5.96235837e-02 1.54496689e-02 3.72726221e+01] [ 5.96286498e-02 9.98220620e-01 1.32942403e-04 1.56218270e+00] [-1.54301046e-02 7.88552903e-04 9.99880638e-01 -7.98223207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22439141799999 meters 0.03295349193424879 Centerline is valid? [True, True] Translation: X:37.33, Y:1.56, Z:-0.80 [[ 9.98260723e-01 -5.65857604e-02 1.65402670e-02 3.73332781e+01] [ 5.65912735e-02 9.98397421e-01 1.34924475e-04 1.56496874e+00] [-1.65213947e-02 8.01344967e-04 9.99863191e-01 -7.98842364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28439141799999 meters 0.03181106688609271 Centerline is valid? [True, True] Translation: X:37.39, Y:1.57, Z:-0.80 [[ 9.98482993e-01 -5.23336582e-02 1.71143501e-02 3.73931738e+01] [ 5.23389529e-02 9.98629368e-01 1.38698820e-04 1.57129144e+00] [-1.70981512e-02 7.57258750e-04 9.99853529e-01 -7.99459844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344391417999994 meters 0.027540318929687613 Centerline is valid? [True, True] Translation: X:37.45, Y:1.58, Z:-0.80 [[ 9.98881017e-01 -4.37740938e-02 1.79036786e-02 3.74538310e+01] [ 4.37785151e-02 9.99041251e-01 1.45095098e-04 1.58350832e+00] [-1.78928649e-02 6.38863725e-04 9.99839706e-01 -7.99754698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40439141799999 meters 0.02522042571743642 Centerline is valid? [True, True] Translation: X:37.51, Y:1.60, Z:-0.80 [[ 9.99250250e-01 -3.50224982e-02 1.65033918e-02 3.75129323e+01] [ 3.50250631e-02 9.99386425e-01 1.33684638e-04 1.59518675e+00] [-1.64979477e-02 4.44447930e-04 9.99863801e-01 -8.03632766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46439141799999 meters 0.022480684960513354 Centerline is valid? [True, True] Translation: X:37.57, Y:1.60, Z:-0.80 [[ 9.99371382e-01 -3.12722557e-02 1.66998879e-02 3.75743841e+01] [ 3.12743511e-02 9.99510829e-01 1.35735061e-04 1.60250196e+00] [-1.66959636e-02 3.86628423e-04 9.99860538e-01 -8.04321123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52439141799999 meters 0.020027492738632614 Centerline is valid? [True, True] Translation: X:37.64, Y:1.61, Z:-0.81 [[ 9.99505505e-01 -2.71146104e-02 1.59230755e-02 3.76354916e+01] [ 2.71159775e-02 9.99632286e-01 1.30075483e-04 1.61024079e+00] [-1.59207473e-02 3.01758595e-04 9.99873211e-01 -8.05863815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58439141799999 meters 0.016761841219267437 Centerline is valid? [True, True] Translation: X:37.70, Y:1.62, Z:-0.81 [[ 9.99578623e-01 -2.40850879e-02 1.62013904e-02 3.76974161e+01] [ 2.40861821e-02 9.99709878e-01 1.27614726e-04 1.61892680e+00] [-1.61997637e-02 2.62668689e-04 9.99868741e-01 -8.05754477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64439141799999 meters 0.017406593497376454 Centerline is valid? [True, True] Translation: X:37.76, Y:1.63, Z:-0.81 [[ 9.99705954e-01 -1.80784043e-02 1.61609491e-02 3.77591151e+01] [ 1.80787299e-02 9.99836558e-01 1.25962737e-04 1.62569797e+00] [-1.61605849e-02 1.66243736e-04 9.99869395e-01 -8.08776153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70439141799999 meters 0.014815894324594904 Centerline is valid? [True, True] Translation: X:37.82, Y:1.64, Z:-0.81 [[ 9.99774487e-01 -1.24855501e-02 1.71780868e-02 3.78215401e+01] [ 1.24851180e-02 9.99922049e-01 1.32398805e-04 1.63515250e+00] [-1.71784008e-02 8.21014934e-05 9.99852437e-01 -8.07095028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76439141799999 meters 0.015727583993423666 Centerline is valid? [True, True] Translation: X:37.88, Y:1.64, Z:-0.81 [[ 9.99795655e-01 -9.74267100e-03 1.77123951e-02 3.78831152e+01] [ 9.74179415e-03 9.99952538e-01 1.35788163e-04 1.63767573e+00] [-1.77128773e-02 3.67900915e-05 9.99843114e-01 -8.09241351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82439141799999 meters 0.014650285188216036 Centerline is valid? [True, True] Translation: X:37.95, Y:1.64, Z:-0.81 [[ 9.99786476e-01 -9.33509212e-03 1.84352566e-02 3.79465479e+01] [ 9.33417406e-03 9.99956426e-01 1.35846507e-04 1.63904352e+00] [-1.84357215e-02 3.62603941e-05 9.99830047e-01 -8.08917685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88439141799999 meters 0.014952041382429698 Centerline is valid? [True, True] Translation: X:38.01, Y:1.64, Z:-0.81 [[ 9.99782302e-01 -1.11717026e-02 1.76221719e-02 3.80085215e+01] [ 1.11711710e-02 9.99937592e-01 1.28602917e-04 1.63854871e+00] [-1.76225089e-02 6.82853760e-05 9.99844709e-01 -8.10928731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94439141799999 meters 0.015425893029578192 Centerline is valid? [True, True] Translation: X:38.07, Y:1.64, Z:-0.81 [[ 9.99746245e-01 -1.48308956e-02 1.69555142e-02 3.80702837e+01] [ 1.48310148e-02 9.99890007e-01 1.18716066e-04 1.63562694e+00] [-1.69554099e-02 1.32781542e-04 9.99856238e-01 -8.13404660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00439141799999 meters 0.018101317977190674 Centerline is valid? [True, True] Translation: X:38.13, Y:1.63, Z:-0.82 [[ 9.99606907e-01 -2.31088077e-02 1.58749928e-02 3.81317741e+01] [ 2.31100143e-02 9.99732922e-01 1.07461449e-04 1.62700054e+00] [-1.58732363e-02 2.59452104e-04 9.99873979e-01 -8.15995794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06439141799999 meters 0.02216603966778231 Centerline is valid? [True, True] Translation: X:38.19, Y:1.62, Z:-0.82 [[ 9.99403616e-01 -3.03795526e-02 1.64162866e-02 3.81923993e+01] [ 3.03819146e-02 9.99538358e-01 1.05552622e-04 1.61975322e+00] [-1.64119148e-02 3.93268544e-04 9.99865238e-01 -8.16353131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124391417999995 meters 0.022095406490439715 Centerline is valid? [True, True] Translation: X:38.25, Y:1.62, Z:-0.82 [[ 9.99275136e-01 -3.41296400e-02 1.68632616e-02 3.82548725e+01] [ 3.41326661e-02 9.99417305e-01 1.08418120e-04 1.61933996e+00] [-1.68571358e-02 4.67248546e-04 9.99857799e-01 -8.16899082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18439141799999 meters 0.026925119678599257 Centerline is valid? [True, True] Translation: X:38.31, Y:1.61, Z:-0.82 [[ 9.99128405e-01 -3.83375361e-02 1.65125276e-02 3.83146167e+01] [ 3.83410403e-02 9.99264707e-01 1.04425112e-04 1.61069456e+00] [-1.65043895e-02 5.28773390e-04 9.99863653e-01 -8.19234228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24439141799999 meters 0.024660158715303544 Centerline is valid? [True, True] Translation: X:38.38, Y:1.61, Z:-0.82 [[ 9.99067289e-01 -4.00757442e-02 1.60775245e-02 3.83771557e+01] [ 4.00792833e-02 9.99196498e-01 1.02151680e-04 1.61462311e+00] [-1.60687000e-02 5.42319258e-04 9.99870743e-01 -8.20074530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304391417999994 meters 0.02484411213770499 Centerline is valid? [True, True] Translation: X:38.44, Y:1.61, Z:-0.82 [[ 9.99060801e-01 -4.02371003e-02 1.60776827e-02 3.84393949e+01] [ 4.02406810e-02 9.99190011e-01 1.00865211e-04 1.61498036e+00] [-1.60687185e-02 5.46206424e-04 9.99870741e-01 -8.21177956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36439141799999 meters 0.024782324837718857 Centerline is valid? [True, True] Translation: X:38.50, Y:1.62, Z:-0.82 [[ 9.99103388e-01 -3.94934931e-02 1.52539714e-02 3.85015873e+01] [ 3.94966468e-02 9.99219699e-01 9.45707166e-05 1.61748537e+00] [-1.52458036e-02 5.07994797e-04 9.99883647e-01 -8.22184556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42439141799999 meters 0.023917807609236133 Centerline is valid? [True, True] Translation: X:38.56, Y:1.62, Z:-0.83 [[ 9.99271086e-01 -3.55704816e-02 1.38577956e-02 3.85634600e+01] [ 3.55727206e-02 9.99367087e-01 8.49695591e-05 1.62393049e+00] [-1.38520472e-02 4.08051866e-04 9.99903973e-01 -8.25175156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484391417999994 meters 0.023156920141452944 Centerline is valid? [True, True] Translation: X:38.62, Y:1.63, Z:-0.83 [[ 9.99444810e-01 -3.08244428e-02 1.26461993e-02 3.86246292e+01] [ 3.08259430e-02 9.99524765e-01 7.63214759e-05 1.62937189e+00] [-1.26425419e-02 3.13551915e-04 9.99920031e-01 -8.28510875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54439141799999 meters 0.018822091113832935 Centerline is valid? [True, True] Translation: X:38.68, Y:1.64, Z:-0.83 [[ 9.99653106e-01 -2.29434740e-02 1.29331118e-02 3.86849217e+01] [ 2.29443929e-02 9.99736740e-01 7.73496172e-05 1.64159254e+00] [-1.29314816e-02 2.19419612e-04 9.99916361e-01 -8.28211109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60439141799999 meters 0.01594999658434309 Centerline is valid? [True, True] Translation: X:38.75, Y:1.66, Z:-0.83 [[ 9.99824092e-01 -1.26164106e-02 1.38784107e-02 3.87468702e+01] [ 1.26164736e-02 9.99920406e-01 8.30195053e-05 1.65713790e+00] [-1.38783534e-02 9.20917001e-05 9.99903687e-01 -8.27547397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664391417999994 meters 0.016871954925681512 Centerline is valid? [True, True] Translation: X:38.81, Y:1.67, Z:-0.83 [[ 9.99889700e-01 -6.76984479e-03 1.32195360e-02 3.88091615e+01] [ 6.76939673e-03 9.99977084e-01 7.86407086e-05 1.66555918e+00] [-1.32197654e-02 1.08562491e-05 9.99912615e-01 -8.28497009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72439141799999 meters 0.015384416834629258 Centerline is valid? [True, True] Translation: X:38.87, Y:1.67, Z:-0.83 [[ 9.99891344e-01 -3.81452835e-03 1.42389983e-02 3.88706045e+01] [ 3.81373002e-03 9.99992724e-01 8.32195866e-05 1.67141104e+00] [-1.42392121e-02 -2.89068492e-05 9.99898617e-01 -8.28706976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78439141799999 meters 0.01652101038061644 Centerline is valid? [True, True] Translation: X:38.93, Y:1.67, Z:-0.83 [[ 9.99892535e-01 -3.99956476e-03 1.41039363e-02 3.89334441e+01] [ 3.99880520e-03 9.99992001e-01 8.20546947e-05 1.67227592e+00] [-1.41041516e-02 -2.56469830e-05 9.99900531e-01 -8.31107091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844391417999994 meters 0.015460200432777984 Centerline is valid? [True, True] Translation: X:39.00, Y:1.67, Z:-0.83 [[ 9.99884449e-01 -6.35341268e-03 1.38102152e-02 3.89963336e+01] [ 6.35290828e-03 9.99979817e-01 8.03935987e-05 1.67312191e+00] [-1.38104473e-02 7.35072147e-06 9.99904631e-01 -8.31413913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90439141799999 meters 0.016850821369519778 Centerline is valid? [True, True] Translation: X:39.06, Y:1.67, Z:-0.83 [[ 9.99866414e-01 -9.00412108e-03 1.36411237e-02 3.90584921e+01] [ 9.00393673e-03 9.99959461e-01 7.49301634e-05 1.67113794e+00] [-1.36412454e-02 4.79036607e-05 9.99906953e-01 -8.34047129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96439141799999 meters 0.015840397147349142 Centerline is valid? [True, True] Translation: X:39.12, Y:1.67, Z:-0.83 [[ 9.99807146e-01 -1.23690267e-02 1.52537592e-02 3.91209888e+01] [ 1.23692903e-02 9.99923494e-01 7.70705339e-05 1.67015446e+00] [-1.52535455e-02 1.11622505e-04 9.99883652e-01 -8.32760453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02439141799999 meters 0.017876158525766454 Centerline is valid? [True, True] Translation: X:39.18, Y:1.67, Z:-0.83 [[ 9.99745618e-01 -1.61642839e-02 1.57294527e-02 3.91833333e+01] [ 1.61650545e-02 9.99869334e-01 7.81572819e-05 1.66743033e+00] [-1.57286607e-02 1.76130059e-04 9.99876281e-01 -8.34990634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08439141799999 meters 0.017024153620156163 Centerline is valid? [True, True] Translation: X:39.25, Y:1.66, Z:-0.84 [[ 9.99671064e-01 -1.94314479e-02 1.67386688e-02 3.92452629e+01] [ 1.94327841e-02 9.99811162e-01 8.28356673e-05 1.66440465e+00] [-1.67371175e-02 2.42470518e-04 9.99859895e-01 -8.35333598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14439141799999 meters 0.017968659118612666 Centerline is valid? [True, True] Translation: X:39.31, Y:1.66, Z:-0.84 [[ 9.99616098e-01 -2.15717132e-02 1.73873095e-02 3.93062025e+01] [ 2.15735795e-02 9.99767260e-01 8.02460772e-05 1.66208011e+00] [-1.73849938e-02 2.94891233e-04 9.99848826e-01 -8.36381698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20439141799999 meters 0.019701900902892457 Centerline is valid? [True, True] Translation: X:39.37, Y:1.66, Z:-0.84 [[ 9.99664903e-01 -2.05090813e-02 1.57942627e-02 3.93682594e+01] [ 2.05105077e-02 9.99789635e-01 7.16853119e-05 1.66171360e+00] [-1.57924104e-02 2.52287057e-04 9.99875260e-01 -8.40352696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26439141799999 meters 0.017811492214782274 Centerline is valid? [True, True] Translation: X:39.43, Y:1.66, Z:-0.84 [[ 9.99692039e-01 -1.88196133e-02 1.61755798e-02 3.94307879e+01] [ 1.88209875e-02 9.99822867e-01 6.72862383e-05 1.66351569e+00] [-1.61739809e-02 2.37174869e-04 9.99869164e-01 -8.41134283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32439141799999 meters 0.0164630767268669 Centerline is valid? [True, True] Translation: X:39.49, Y:1.67, Z:-0.84 [[ 9.99749934e-01 -1.61743523e-02 1.54421727e-02 3.94925696e+01] [ 1.61753053e-02 9.99869169e-01 6.31890162e-05 1.66726799e+00] [-1.54411744e-02 1.86608644e-04 9.99880761e-01 -8.42762198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38439141799999 meters 0.015398011038710918 Centerline is valid? [True, True] Translation: X:39.56, Y:1.67, Z:-0.84 [[ 9.99848403e-01 -9.48660754e-03 1.46005334e-02 3.95551132e+01] [ 9.48675985e-03 9.99954998e-01 5.88292159e-05 1.67458904e+00] [-1.46004344e-02 7.96914564e-05 9.99893405e-01 -8.44865763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44439141799999 meters 0.015255379055406113 Centerline is valid? [True, True] Translation: X:39.62, Y:1.68, Z:-0.85 [[ 9.99887992e-01 -3.71961642e-03 1.44971736e-02 3.96178039e+01] [ 3.71918087e-03 9.99993082e-01 5.70045434e-05 1.68119786e+00] [-1.44972853e-02 -3.08054780e-06 9.99894909e-01 -8.45686407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50439141799999 meters 0.016005979760897116 Centerline is valid? [True, True] Translation: X:39.68, Y:1.69, Z:-0.85 [[ 9.99876063e-01 4.73455682e-03 1.50147298e-02 3.96789199e+01] [-4.73594817e-03 9.99988784e-01 5.71102439e-05 1.68851734e+00] [-1.50142910e-02 -1.28212148e-04 9.99887271e-01 -8.46652825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56439141799999 meters 0.017057421014104047 Centerline is valid? [True, True] Translation: X:39.74, Y:1.69, Z:-0.85 [[ 9.99828990e-01 9.62067451e-03 1.57934914e-02 3.97413779e+01] [-9.62280894e-03 9.99953698e-01 5.91567841e-05 1.69323225e+00] [-1.57921910e-02 -2.11124418e-04 9.99875273e-01 -8.46759413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62439141799999 meters 0.01826879853115152 Centerline is valid? [True, True] Translation: X:39.80, Y:1.69, Z:-0.85 [[ 9.99814376e-01 1.19742795e-02 1.50940402e-02 3.98040306e+01] [-1.19765012e-02 9.99928278e-01 5.68015216e-05 1.69481001e+00] [-1.50922775e-02 -2.37564769e-04 9.99886077e-01 -8.48165381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68439141799999 meters 0.017292540555275036 Centerline is valid? [True, True] Translation: X:39.87, Y:1.69, Z:-0.85 [[ 9.99796758e-01 1.21584087e-02 1.60815093e-02 3.98674345e+01] [-1.21608795e-02 9.99926052e-01 5.58588102e-05 1.69160915e+00] [-1.60796410e-02 -2.51412755e-04 9.99870683e-01 -8.48113163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74439141799999 meters 0.01657647770272162 Centerline is valid? [True, True] Translation: X:39.93, Y:1.69, Z:-0.85 [[ 9.99808835e-01 1.07976876e-02 1.63003942e-02 3.99296221e+01] [-1.07999558e-02 9.99941677e-01 5.11246758e-05 1.68681338e+00] [-1.62988915e-02 -2.27158439e-04 9.99867138e-01 -8.48050564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804391417999994 meters 0.01625053859660128 Centerline is valid? [True, True] Translation: X:39.99, Y:1.68, Z:-0.85 [[ 9.99844175e-01 7.67003473e-03 1.58995947e-02 3.99917393e+01] [-7.67172717e-03 9.99970571e-01 4.54551409e-05 1.68190779e+00] [-1.58987782e-02 -1.67425411e-04 9.99873592e-01 -8.49119072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86439141799999 meters 0.01796375071216382 Centerline is valid? [True, True] Translation: X:40.05, Y:1.68, Z:-0.85 [[ 9.99866941e-01 6.91102802e-03 1.47762868e-02 4.00543862e+01] [-6.91235570e-03 9.99976109e-01 3.87811298e-05 1.67796392e+00] [-1.47756658e-02 -1.40914920e-04 9.99890824e-01 -8.52763654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92439141799999 meters 0.016178299661526035 Centerline is valid? [True, True] Translation: X:40.12, Y:1.67, Z:-0.85 [[ 9.99858546e-01 6.35962032e-03 1.55706122e-02 4.01157134e+01] [-6.36093849e-03 9.99979768e-01 3.51336110e-05 1.67187526e+00] [-1.55700737e-02 -1.34172348e-04 9.99878770e-01 -8.52511062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984391417999994 meters 0.016271232022260045 Centerline is valid? [True, True] Translation: X:40.18, Y:1.67, Z:-0.85 [[ 9.99838717e-01 7.83456064e-03 1.61604191e-02 4.01788148e+01] [-7.83611029e-03 9.99969297e-01 3.25715916e-05 1.66749299e+00] [-1.61596678e-02 -1.59201165e-04 9.99869411e-01 -8.51602778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04439141799999 meters 0.01664426116112119 Centerline is valid? [True, True] Translation: X:40.24, Y:1.66, Z:-0.85 [[ 9.99832584e-01 9.22409113e-03 1.58025137e-02 4.02397138e+01] [-9.22565173e-03 9.99957442e-01 2.58588131e-05 1.66481672e+00] [-1.58016027e-02 -1.71642972e-04 9.99875132e-01 -8.53099450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10439141799999 meters 0.016599243120299395 Centerline is valid? [True, True] Translation: X:40.30, Y:1.66, Z:-0.86 [[ 9.99834118e-01 1.08911759e-02 1.45985988e-02 4.03016191e+01] [-1.08926708e-02 9.99940673e-01 2.28922261e-05 1.65749597e+00] [-1.45974834e-02 -1.81906160e-04 9.99893435e-01 -8.55053544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164391417999994 meters 0.016874246493602765 Centerline is valid? [True, True] Translation: X:40.37, Y:1.65, Z:-0.86 [[ 9.99821159e-01 1.16964723e-02 1.48607752e-02 4.03652141e+01] [-1.16980501e-02 9.99931575e-01 1.92425380e-05 1.65276279e+00] [-1.48595333e-02 -1.93081189e-04 9.99889572e-01 -8.56211028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22439141799999 meters 0.016723211533199653 Centerline is valid? [True, True] Translation: X:40.43, Y:1.65, Z:-0.86 [[ 9.99813897e-01 1.20099432e-02 1.50974085e-02 4.04281116e+01] [-1.20115320e-02 9.99927859e-01 1.45598052e-05 1.65023534e+00] [-1.50961445e-02 -1.95900101e-04 9.99886028e-01 -8.57275303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28439141799999 meters 0.016390836574767743 Centerline is valid? [True, True] Translation: X:40.49, Y:1.64, Z:-0.86 [[ 9.99841623e-01 1.05015704e-02 1.43682172e-02 4.04907507e+01] [-1.05027890e-02 9.99944844e-01 9.35328239e-06 1.63930731e+00] [-1.43673265e-02 -1.60258154e-04 9.99896772e-01 -8.59183825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344391417999994 meters 0.01622809888041583 Centerline is valid? [True, True] Translation: X:40.55, Y:1.63, Z:-0.86 [[ 9.99884620e-01 7.95202250e-03 1.29426430e-02 4.05533743e+01] [-7.95275819e-03 9.99968376e-01 5.37550219e-06 1.62774490e+00] [-1.29421909e-02 -1.08304592e-04 9.99916240e-01 -8.62277205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40439141799999 meters 0.016052626850527635 Centerline is valid? [True, True] Translation: X:40.62, Y:1.62, Z:-0.86 [[ 9.99882437e-01 8.11413152e-03 1.30105109e-02 4.06150222e+01] [-8.11484217e-03 9.99967074e-01 1.83026843e-06 1.62298270e+00] [-1.30100676e-02 -1.07408296e-04 9.99915360e-01 -8.63846456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46439141799999 meters 0.01785165897776582 Centerline is valid? [True, True] Translation: X:40.68, Y:1.62, Z:-0.87 [[ 9.99846976e-01 1.19744711e-02 1.27528810e-02 4.06767885e+01] [-1.19753947e-02 9.99928292e-01 -3.94511321e-06 1.61570495e+00] [-1.27520137e-02 -1.48776273e-04 9.99918679e-01 -8.65650962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52439141799999 meters 0.019605860934589794 Centerline is valid? [True, True] Translation: X:40.74, Y:1.61, Z:-0.87 [[ 9.99799178e-01 1.46986163e-02 1.36218397e-02 4.07393069e+01] [-1.46999291e-02 9.99891950e-01 -3.75133722e-06 1.61089604e+00] [-1.36204230e-02 -1.96489494e-04 9.99907218e-01 -8.67023849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58439141799999 meters 0.019285402299664287 Centerline is valid? [True, True] Translation: X:40.80, Y:1.60, Z:-0.87 [[ 9.99758221e-01 1.61184125e-02 1.49564880e-02 4.08017924e+01] [-1.61200831e-02 9.99870063e-01 -8.85676654e-06 1.60431539e+00] [-1.49546874e-02 -2.32245205e-04 9.99888145e-01 -8.68325772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64439141799999 meters 0.017910102994026848 Centerline is valid? [True, True] Translation: X:40.86, Y:1.59, Z:-0.87 [[ 9.99773075e-01 1.49538793e-02 1.51716926e-02 4.08641124e+01] [-1.49553741e-02 9.99888162e-01 -1.49360269e-05 1.59472806e+00] [-1.51702192e-02 -2.11965701e-04 9.99884903e-01 -8.69548872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70439141799999 meters 0.020012633919167352 Centerline is valid? [True, True] Translation: X:40.93, Y:1.59, Z:-0.87 [[ 9.99779559e-01 1.50363839e-02 1.46540198e-02 4.09269128e+01] [-1.50377910e-02 9.99886926e-01 -1.41688947e-05 1.58675457e+00] [-1.46525759e-02 -2.06198316e-04 9.99892624e-01 -8.73366392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76439141799999 meters 0.01664434529882304 Centerline is valid? [True, True] Translation: X:40.99, Y:1.57, Z:-0.87 [[ 9.99786818e-01 1.30474883e-02 1.60025273e-02 4.09891789e+01] [-1.30488117e-02 9.99914860e-01 -2.17121899e-05 1.57437732e+00] [-1.60014481e-02 -1.87106404e-04 9.99871951e-01 -8.71113458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82439141799999 meters 0.017280277637245406 Centerline is valid? [True, True] Translation: X:41.05, Y:1.57, Z:-0.87 [[ 9.99785333e-01 1.24521785e-02 1.65599013e-02 4.10500407e+01] [-1.24534234e-02 9.99922453e-01 -2.79484875e-05 1.56848539e+00] [-1.65589651e-02 -1.78284974e-04 9.99862875e-01 -8.72841345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88439141799999 meters 0.017644877392095668 Centerline is valid? [True, True] Translation: X:41.11, Y:1.56, Z:-0.87 [[ 9.99783415e-01 1.26935434e-02 1.64923081e-02 4.11118109e+01] [-1.26947365e-02 9.99919418e-01 -3.23442948e-05 1.56083945e+00] [-1.64913897e-02 -1.77028217e-04 9.99863992e-01 -8.74871808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94439141799999 meters 0.020193429737025155 Centerline is valid? [True, True] Translation: X:41.17, Y:1.56, Z:-0.88 [[ 9.99772947e-01 1.44877352e-02 1.56256363e-02 4.11743327e+01] [-1.44889550e-02 9.99895029e-01 -3.51448732e-05 1.55626022e+00] [-1.56245052e-02 -1.91262248e-04 9.99877912e-01 -8.78953781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00439141799999 meters 0.018820297810796967 Centerline is valid? [True, True] Translation: X:41.24, Y:1.55, Z:-0.88 [[ 9.99728592e-01 1.60880625e-02 1.68498427e-02 4.12378266e+01] [-1.60896293e-02 9.99870553e-01 -4.25790087e-05 1.54788883e+00] [-1.68483465e-02 -2.28540271e-04 9.99858030e-01 -8.78033825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06439141799999 meters 0.017310925321714812 Centerline is valid? [True, True] Translation: X:41.30, Y:1.54, Z:-0.88 [[ 9.99712488e-01 1.62595489e-02 1.76229680e-02 4.12996983e+01] [-1.62611715e-02 9.99867777e-01 -5.12297890e-05 1.54434333e+00] [-1.76214708e-02 -2.35355045e-04 9.99844702e-01 -8.76125426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12439141799999 meters 0.020932541117393882 Centerline is valid? [True, True] Translation: X:41.36, Y:1.54, Z:-0.88 [[ 9.99706339e-01 1.65076696e-02 1.77407161e-02 4.13614895e+01] [-1.65092492e-02 9.99863711e-01 -5.74205058e-05 1.53700761e+00] [-1.77392461e-02 -2.35482259e-04 9.99842619e-01 -8.80926734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18439141799999 meters 0.017170135878443554 Centerline is valid? [True, True] Translation: X:41.42, Y:1.53, Z:-0.88 [[ 9.99703692e-01 1.56665421e-02 1.86302980e-02 4.14238507e+01] [-1.56680206e-02 9.99877247e-01 -6.66092299e-05 1.52749681e+00] [-1.86290546e-02 -2.25310400e-04 9.99826439e-01 -8.79852167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24439141799999 meters 0.016653368632966837 Centerline is valid? [True, True] Translation: X:41.49, Y:1.52, Z:-0.88 [[ 9.99684463e-01 1.60168370e-02 1.93503366e-02 4.14870459e+01] [-1.60183840e-02 9.99871695e-01 -7.50551643e-05 1.52270619e+00] [-1.93490560e-02 -2.34929641e-04 9.99812762e-01 -8.80230133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30439141799999 meters 0.020251860129994533 Centerline is valid? [True, True] Translation: X:41.55, Y:1.52, Z:-0.88 [[ 9.99662801e-01 1.78459113e-02 1.88628911e-02 4.15485840e+01] [-1.78475855e-02 9.99840716e-01 -7.95973567e-05 1.52000611e+00] [-1.88613070e-02 -2.57086545e-04 9.99822077e-01 -8.84454878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36439141799999 meters 0.019803550455820298 Centerline is valid? [True, True] Translation: X:41.61, Y:1.51, Z:-0.89 [[ 9.99651411e-01 1.86560251e-02 1.86817869e-02 4.16115089e+01] [-1.86577203e-02 9.99825926e-01 -8.35602104e-05 1.51480122e+00] [-1.86800938e-02 -2.65028474e-04 9.99825477e-01 -8.86156555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42439141799999 meters 0.01897022410835857 Centerline is valid? [True, True] Translation: X:41.67, Y:1.51, Z:-0.89 [[ 9.99688844e-01 1.65725627e-02 1.86430827e-02 4.16738423e+01] [-1.65737644e-02 9.99862642e-01 -9.00527633e-05 1.50912577e+00] [-1.86420143e-02 -2.18961318e-04 9.99826199e-01 -8.86867016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484391417999994 meters 0.016615242791908146 Centerline is valid? [True, True] Translation: X:41.74, Y:1.50, Z:-0.89 [[ 9.99737633e-01 1.25044460e-02 1.91912288e-02 4.17365056e+01] [-1.25048450e-02 9.99921806e-01 -9.92163532e-05 1.50199304e+00] [-1.91909688e-02 -1.40793020e-04 9.99815826e-01 -8.87377145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54439141799999 meters 0.01698270107070038 Centerline is valid? [True, True] Translation: X:41.80, Y:1.49, Z:-0.89 [[ 9.99828431e-01 3.91536968e-03 1.81046761e-02 4.17980307e+01] [-3.91429590e-03 9.99992335e-01 -9.47458580e-05 1.48938232e+00] [-1.81049082e-02 2.38625432e-05 9.99836092e-01 -8.90586796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60439141799999 meters 0.01758467117004086 Centerline is valid? [True, True] Translation: X:41.86, Y:1.48, Z:-0.89 [[ 9.99823738e-01 -1.21119397e-03 1.87356636e-02 4.18599361e+01] [ 1.21334260e-03 9.99999259e-01 -1.03314407e-04 1.48214818e+00] [-1.87355246e-02 1.26028975e-04 9.99824467e-01 -8.91033504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664391417999994 meters 0.01704957491280373 Centerline is valid? [True, True] Translation: X:41.92, Y:1.48, Z:-0.89 [[ 9.99799927e-01 -5.36891644e-03 1.92686442e-02 4.19219964e+01] [ 5.37206974e-03 9.99985564e-01 -1.11891683e-04 1.47637794e+00] [-1.92677653e-02 2.15381797e-04 9.99814336e-01 -8.90701922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72439141799999 meters 0.01749781196417388 Centerline is valid? [True, True] Translation: X:41.98, Y:1.48, Z:-0.89 [[ 9.99788083e-01 -3.47577283e-03 2.02906154e-02 4.19828213e+01] [ 3.47902023e-03 9.99993940e-01 -1.24747219e-04 1.47740978e+00] [-2.02900589e-02 1.95312245e-04 9.99794116e-01 -8.91351296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78439141799999 meters 0.016279802800660163 Centerline is valid? [True, True] Translation: X:42.04, Y:1.48, Z:-0.89 [[ 9.99774325e-01 -1.69310790e-04 2.12431088e-02 4.20441579e+01] [ 1.72206331e-04 9.99999976e-01 -1.34475739e-04 1.47968146e+00] [-2.12430855e-02 1.38103589e-04 9.99774331e-01 -8.90531830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844391417999994 meters 0.017589378069457574 Centerline is valid? [True, True] Translation: X:42.11, Y:1.49, Z:-0.89 [[ 9.99776640e-01 6.11201765e-03 2.02314939e-02 4.21065851e+01] [-6.11060767e-03 9.99981321e-01 -1.31511718e-04 1.48881765e+00] [-2.02319198e-02 7.85562158e-06 9.99795314e-01 -8.94382263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90439141799999 meters 0.014246597640588582 Centerline is valid? [True, True] Translation: X:42.17, Y:1.49, Z:-0.89 [[ 9.99730142e-01 9.49932371e-03 2.11991891e-02 4.21699557e+01] [-9.49850228e-03 9.99954878e-01 -1.39441751e-04 1.49242663e+00] [-2.11995571e-02 -6.19564245e-05 9.99775262e-01 -8.93259462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96439141799999 meters 0.014654843274614282 Centerline is valid? [True, True] Translation: X:42.23, Y:1.50, Z:-0.90 [[ 9.99698348e-01 1.31549902e-02 2.07402876e-02 4.22331943e+01] [-1.31548472e-02 9.99913461e-01 -1.43333316e-04 1.49761934e+00] [-2.07403783e-02 -1.29545234e-04 9.99784887e-01 -8.95700457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02439141799999 meters 0.01841618199603251 Centerline is valid? [True, True] Translation: X:42.30, Y:1.50, Z:-0.90 [[ 9.99705917e-01 1.49580803e-02 1.90875677e-02 4.22965371e+01] [-1.49581742e-02 9.99888111e-01 -1.37857368e-04 1.49976053e+00] [-1.90874941e-02 -1.47698336e-04 9.99817806e-01 -9.01903211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08439141799999 meters 0.01470317869261857 Centerline is valid? [True, True] Translation: X:42.36, Y:1.50, Z:-0.90 [[ 9.99706615e-01 1.27869999e-02 2.05712378e-02 4.23591342e+01] [-1.27864890e-02 9.99918237e-01 -1.56373011e-04 1.49794435e+00] [-2.05715554e-02 -1.06706773e-04 9.99788377e-01 -9.00016572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14439141799999 meters 0.015364855568718527 Centerline is valid? [True, True] Translation: X:42.42, Y:1.50, Z:-0.90 [[ 9.99724789e-01 1.20590527e-02 2.01227841e-02 4.24217755e+01] [-1.20582970e-02 9.99927283e-01 -1.58892195e-04 1.49638800e+00] [-2.01232369e-02 -8.37980408e-05 9.99797504e-01 -9.02552420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20439141799999 meters 0.017132491348647555 Centerline is valid? [True, True] Translation: X:42.48, Y:1.49, Z:-0.91 [[ 9.99799205e-01 6.58970041e-03 1.89242068e-02 4.24848335e+01] [-6.58793708e-03 9.99978287e-01 -1.55519229e-04 1.49167084e+00] [-1.89248207e-02 3.08165175e-05 9.99820909e-01 -9.06495243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26439141799999 meters 0.01853608673450367 Centerline is valid? [True, True] Translation: X:42.55, Y:1.49, Z:-0.91 [[ 9.99814114e-01 1.19242529e-03 1.92436080e-02 4.25472429e+01] [-1.18947060e-03 9.99999279e-01 -1.64986564e-04 1.48673136e+00] [-1.92437909e-02 1.42066189e-04 9.99814811e-01 -9.07175613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32439141799999 meters 0.02024763213878203 Centerline is valid? [True, True] Translation: X:42.61, Y:1.48, Z:-0.91 [[ 9.99806197e-01 -2.90136544e-03 1.94717887e-02 4.26095836e+01] [ 2.90528294e-03 9.99995765e-01 -1.72903292e-04 1.48309568e+00] [-1.94712046e-02 2.29440838e-04 9.99810392e-01 -9.08087639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38439141799999 meters 0.01977568828495096 Centerline is valid? [True, True] Translation: X:42.67, Y:1.48, Z:-0.91 [[ 9.99723119e-01 -1.01943846e-02 2.12075440e-02 4.26703296e+01] [ 1.02008250e-02 9.99947951e-01 -1.95527456e-04 1.47715429e+00] [-2.12044469e-02 4.11807765e-04 9.99775076e-01 -9.05263190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44439141799999 meters 0.022617802655711415 Centerline is valid? [True, True] Translation: X:42.73, Y:1.47, Z:-0.91 [[ 9.99672692e-01 -1.48595624e-02 2.08255069e-02 4.27319231e+01] [ 1.48667968e-02 9.99889465e-01 -1.92596908e-04 1.47228379e+00] [-2.08203430e-02 5.02142450e-04 9.99783107e-01 -9.07474495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50439141799999 meters 0.028541936903939778 Centerline is valid? [True, True] Translation: X:42.79, Y:1.47, Z:-0.91 [[ 9.99584666e-01 -2.22041953e-02 1.83703106e-02 4.27933244e+01] [ 2.22111559e-02 9.99753287e-01 -1.74935563e-04 1.46837194e+00] [-1.83618941e-02 5.82888737e-04 9.99831236e-01 -9.13270689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56439141799999 meters 0.03126331719650417 Centerline is valid? [True, True] Translation: X:42.85, Y:1.46, Z:-0.91 [[ 9.99440042e-01 -2.67781395e-02 2.00632586e-02 4.28535691e+01] [ 2.67873823e-02 9.99641135e-01 -1.92031092e-04 1.46434188e+00] [-2.00509164e-02 7.29365740e-04 9.99798694e-01 -9.11505663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62439141799999 meters 0.03150851057331383 Centerline is valid? [True, True] Translation: X:42.91, Y:1.47, Z:-0.91 [[ 9.99330955e-01 -3.12213682e-02 1.90491133e-02 4.29144789e+01] [ 3.12305129e-02 9.99512192e-01 -1.82692428e-04 1.46607372e+00] [-1.90341171e-02 7.77483778e-04 9.99818532e-01 -9.13861932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68439141799999 meters 0.0313402040295567 Centerline is valid? [True, True] Translation: X:42.98, Y:1.48, Z:-0.92 [[ 9.99290723e-01 -3.36912934e-02 1.68210615e-02 4.29768931e+01] [ 3.36987722e-02 9.99432022e-01 -1.61283604e-04 1.47581510e+00] [-1.68060737e-02 7.28018329e-04 9.99858503e-01 -9.17684059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74439141799999 meters 0.03181580671773263 Centerline is valid? [True, True] Translation: X:43.04, Y:1.48, Z:-0.92 [[ 9.99220957e-01 -3.48037332e-02 1.86058661e-02 4.30384685e+01] [ 3.48131112e-02 9.99393824e-01 -1.80282590e-04 1.47742160e+00] [-1.85883131e-02 8.27870228e-04 9.99826880e-01 -9.17282445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80439141799999 meters 0.030429367021386846 Centerline is valid? [True, True] Translation: X:43.10, Y:1.48, Z:-0.92 [[ 9.99180026e-01 -3.52795493e-02 1.98652760e-02 4.31010457e+01] [ 3.52903584e-02 9.99377083e-01 -1.93711236e-04 1.48440722e+00] [-1.98460675e-02 8.94605106e-04 9.99802647e-01 -9.17588821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86439141799999 meters 0.032474332036264805 Centerline is valid? [True, True] Translation: X:43.16, Y:1.49, Z:-0.92 [[ 9.99141821e-01 -3.70176036e-02 1.85827260e-02 4.31632633e+01] [ 3.70273874e-02 9.99314234e-01 -1.82589518e-04 1.49056663e+00] [-1.85632236e-02 8.70502617e-04 9.99827310e-01 -9.20320642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92439141799999 meters 0.03363142805823032 Centerline is valid? [True, True] Translation: X:43.23, Y:1.49, Z:-0.92 [[ 9.99104622e-01 -3.82871325e-02 1.80013946e-02 4.32257023e+01] [ 3.82965440e-02 9.99266402e-01 -1.78259253e-04 1.49494428e+00] [-1.79813638e-02 8.67490846e-04 9.99837946e-01 -9.22180013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98439141799999 meters 0.03381961953222953 Centerline is valid? [True, True] Translation: X:43.29, Y:1.50, Z:-0.93 [[ 9.99061983e-01 -4.02028742e-02 1.60898255e-02 4.32879424e+01] [ 4.02106580e-02 9.99191212e-01 -1.60421233e-04 1.50180043e+00] [-1.60703629e-02 8.07253226e-04 9.99870538e-01 -9.25310831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04439141799999 meters 0.03402457635982315 Centerline is valid? [True, True] Translation: X:43.35, Y:1.51, Z:-0.92 [[ 9.99004511e-01 -4.14841342e-02 1.64028416e-02 4.33501863e+01] [ 4.14924184e-02 9.99138805e-01 -1.64906554e-04 1.50632664e+00] [-1.63818746e-02 8.45335958e-04 9.99865451e-01 -9.24837025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10439141799999 meters 0.0338842451871978 Centerline is valid? [True, True] Translation: X:43.41, Y:1.52, Z:-0.93 [[ 9.99100801e-01 -3.90501622e-02 1.65128344e-02 4.34114107e+01] [ 3.90582520e-02 9.99236921e-01 -1.67567638e-04 1.51711214e+00] [-1.64936903e-02 8.12379411e-04 9.99863640e-01 -9.26309854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164391417999994 meters 0.03298744795480872 Centerline is valid? [True, True] Translation: X:43.47, Y:1.53, Z:-0.93 [[ 9.99307517e-01 -3.30903864e-02 1.70150987e-02 4.34707553e+01] [ 3.30981302e-02 9.99452092e-01 -1.73628851e-04 1.52883254e+00] [-1.70000305e-02 7.36676567e-04 9.99855218e-01 -9.27417575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22439141799999 meters 0.02857772024990962 Centerline is valid? [True, True] Translation: X:43.53, Y:1.54, Z:-0.92 [[ 9.99387194e-01 -2.92874017e-02 1.91698629e-02 4.35328582e+01] [ 2.92965239e-02 9.99570746e-01 -1.95142200e-04 1.53976128e+00] [-1.91559190e-02 7.56632963e-04 9.99816222e-01 -9.24835697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28439141799999 meters 0.02482801649175548 Centerline is valid? [True, True] Translation: X:43.59, Y:1.56, Z:-0.93 [[ 9.99562461e-01 -2.28078501e-02 1.88331955e-02 4.35941458e+01] [ 2.28155287e-02 9.99739673e-01 -1.92923709e-04 1.55547395e+00] [-1.88238926e-02 6.22528611e-04 9.99822621e-01 -9.26571398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344391417999994 meters 0.02425424304529288 Centerline is valid? [True, True] Translation: X:43.66, Y:1.56, Z:-0.93 [[ 9.99604827e-01 -2.06468547e-02 1.90760928e-02 4.36555878e+01] [ 2.06543337e-02 9.99786657e-01 -1.95103767e-04 1.55964526e+00] [-1.90679948e-02 5.89030654e-04 9.99818016e-01 -9.27752987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40439141799999 meters 0.024239637899341773 Centerline is valid? [True, True] Translation: X:43.72, Y:1.57, Z:-0.93 [[ 9.99660099e-01 -1.98429024e-02 1.69099520e-02 4.37174008e+01] [ 1.98487407e-02 9.99802979e-01 -1.77476673e-04 1.56635432e+00] [-1.69030987e-02 5.13057600e-04 9.99857001e-01 -9.32466896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46439141799999 meters 0.023843128146492924 Centerline is valid? [True, True] Translation: X:43.78, Y:1.57, Z:-0.93 [[ 9.99629324e-01 -2.11685550e-02 1.71203576e-02 4.37794475e+01] [ 2.11747570e-02 9.99775773e-01 -1.81050099e-04 1.57041785e+00] [-1.71126862e-02 5.43502401e-04 9.99853420e-01 -9.32354349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52439141799999 meters 0.025130737664695563 Centerline is valid? [True, True] Translation: X:43.84, Y:1.57, Z:-0.93 [[ 9.99638148e-01 -2.10616698e-02 1.67325565e-02 4.38416573e+01] [ 2.10675817e-02 9.99778038e-01 -1.77105084e-04 1.57403430e+00] [-1.67251123e-02 5.29555498e-04 9.99859985e-01 -9.34610270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58439141799999 meters 0.022772815598232837 Centerline is valid? [True, True] Translation: X:43.90, Y:1.58, Z:-0.94 [[ 9.99660265e-01 -1.94481534e-02 1.73528942e-02 4.39041194e+01] [ 1.94543774e-02 9.99810728e-01 -1.89919852e-04 1.58202535e+00] [-1.73459161e-02 5.27445081e-04 9.99849409e-01 -9.35366067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64439141799999 meters 0.02270540143654317 Centerline is valid? [True, True] Translation: X:43.97, Y:1.59, Z:-0.94 [[ 9.99663061e-01 -1.91166473e-02 1.75589751e-02 4.39659649e+01] [ 1.91229938e-02 9.99817120e-01 -1.93591034e-04 1.58682300e+00] [-1.75520631e-02 5.29305978e-04 9.99845811e-01 -9.36479635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70439141799999 meters 0.02605632866709604 Centerline is valid? [True, True] Translation: X:44.03, Y:1.59, Z:-0.94 [[ 9.99634756e-01 -2.02499264e-02 1.78968031e-02 4.40274102e+01] [ 2.02567222e-02 9.99794792e-01 -1.98500477e-04 1.58624160e+00] [-1.78891109e-02 5.60958543e-04 9.99839820e-01 -9.38212780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76439141799999 meters 0.024935691018844634 Centerline is valid? [True, True] Translation: X:44.09, Y:1.59, Z:-0.94 [[ 9.99608225e-01 -2.13494389e-02 1.80996460e-02 4.40892822e+01] [ 2.13566114e-02 9.99771901e-01 -2.03060739e-04 1.59051300e+00] [-1.80911822e-02 5.89528290e-04 9.99836167e-01 -9.39291769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82439141799999 meters 0.026836768548990354 Centerline is valid? [True, True] Translation: X:44.15, Y:1.59, Z:-0.94 [[ 9.99576249e-01 -2.39714775e-02 1.65133617e-02 4.41516184e+01] [ 2.39778816e-02 9.99712471e-01 -1.89900553e-04 1.59356129e+00] [-1.65040615e-02 5.85775515e-04 9.99863627e-01 -9.42251799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88439141799999 meters 0.02699386410021606 Centerline is valid? [True, True] Translation: X:44.21, Y:1.60, Z:-0.94 [[ 9.99529907e-01 -2.58900999e-02 1.64215659e-02 4.42138136e+01] [ 2.58967120e-02 9.99664606e-01 -1.90089004e-04 1.59569935e+00] [-1.64111368e-02 6.15264207e-04 9.99865139e-01 -9.43660180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94439141799999 meters 0.027371179326898015 Centerline is valid? [True, True] Translation: X:44.28, Y:1.60, Z:-0.95 [[ 9.99478596e-01 -2.78297792e-02 1.63719141e-02 4.42763312e+01] [ 2.78366318e-02 9.99612468e-01 -1.90779236e-04 1.60038702e+00] [-1.63602601e-02 6.46418708e-04 9.99865953e-01 -9.45511082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00439141799999 meters 0.029720703856349895 Centerline is valid? [True, True] Translation: X:44.34, Y:1.60, Z:-0.95 [[ 9.99500566e-01 -2.75136645e-02 1.55440583e-02 4.43379323e+01] [ 2.75197997e-02 9.99621242e-01 -1.80892967e-04 1.59966103e+00] [-1.55331938e-02 6.08571993e-04 9.99879167e-01 -9.48721144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06439141799999 meters 0.027400553781213335 Centerline is valid? [True, True] Translation: X:44.40, Y:1.61, Z:-0.95 [[ 9.99549843e-01 -2.57172390e-02 1.54510650e-02 4.44006476e+01] [ 2.57231756e-02 9.99669087e-01 -1.85575261e-04 1.60935880e+00] [-1.54411796e-02 5.82942181e-04 9.99880608e-01 -9.48661094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12439141799999 meters 0.025903783271865547 Centerline is valid? [True, True] Translation: X:44.46, Y:1.62, Z:-0.95 [[ 9.99601545e-01 -2.28326402e-02 1.65958616e-02 4.44619074e+01] [ 2.28391267e-02 9.99739133e-01 -2.01401676e-04 1.61984086e+00] [-1.65869337e-02 5.80356412e-04 9.99862259e-01 -9.48081513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18439141799999 meters 0.025681260938370722 Centerline is valid? [True, True] Translation: X:44.52, Y:1.63, Z:-0.95 [[ 9.99639982e-01 -2.10220593e-02 1.66727230e-02 4.45237694e+01] [ 2.10283619e-02 9.99778859e-01 -2.02776153e-04 1.62625253e+00] [-1.66647733e-02 5.53303205e-04 9.99860980e-01 -9.49615934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24439141799999 meters 0.024109470852242736 Centerline is valid? [True, True] Translation: X:44.59, Y:1.63, Z:-0.95 [[ 9.99634597e-01 -1.97604659e-02 1.84444419e-02 4.45856783e+01] [ 1.97679954e-02 9.99804569e-01 -2.25977995e-04 1.63337029e+00] [-1.84363718e-02 5.90505064e-04 9.99829861e-01 -9.48211577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30439141799999 meters 0.021989162002293137 Centerline is valid? [True, True] Translation: X:44.65, Y:1.64, Z:-0.95 [[ 9.99685155e-01 -1.83845418e-02 1.70762999e-02 4.46484943e+01] [ 1.83908090e-02 9.99830853e-01 -2.10036304e-04 1.64362806e+00] [-1.70695501e-02 5.24017146e-04 9.99854167e-01 -9.50382344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36439141799999 meters 0.022106010363743052 Centerline is valid? [True, True] Translation: X:44.71, Y:1.65, Z:-0.95 [[ 9.99713935e-01 -1.73972149e-02 1.64129669e-02 4.47105387e+01] [ 1.74029180e-02 9.99848537e-01 -2.04701865e-04 1.64756277e+00] [-1.64069197e-02 4.90276824e-04 9.99865277e-01 -9.52966729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42439141799999 meters 0.022105508554520602 Centerline is valid? [True, True] Translation: X:44.77, Y:1.65, Z:-0.96 [[ 9.99774177e-01 -1.43723180e-02 1.56534712e-02 4.47725582e+01] [ 1.43771538e-02 9.99896624e-01 -1.96433120e-04 1.65330151e+00] [-1.56490299e-02 4.21441125e-04 9.99877458e-01 -9.55907699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48439141799999 meters 0.02004516324684788 Centerline is valid? [True, True] Translation: X:44.83, Y:1.66, Z:-0.96 [[ 9.99802167e-01 -1.03975486e-02 1.69563556e-02 4.48339677e+01] [ 1.04026808e-02 9.99945868e-01 -2.14493954e-04 1.65989026e+00] [-1.69532075e-02 3.90843075e-04 9.99856208e-01 -9.55094416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54439141799999 meters 0.018833908003498892 Centerline is valid? [True, True] Translation: X:44.90, Y:1.67, Z:-0.96 [[ 9.99854467e-01 -1.71197934e-03 1.69739271e-02 4.48958780e+01] [ 1.71587862e-03 9.99998505e-01 -2.15161319e-04 1.67280288e+00] [-1.69735334e-02 2.44255204e-04 9.99855909e-01 -9.56128616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60439141799999 meters 0.016316450519557418 Centerline is valid? [True, True] Translation: X:44.96, Y:1.68, Z:-0.96 [[ 9.99830610e-01 1.44679609e-03 1.83482357e-02 4.49583191e+01] [-1.44273988e-03 9.99998932e-01 -2.34303262e-04 1.67767512e+00] [-1.83485551e-02 2.07791842e-04 9.99831630e-01 -9.56348683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66439141799999 meters 0.0155424072554944 Centerline is valid? [True, True] Translation: X:45.02, Y:1.68, Z:-0.96 [[ 9.99812430e-01 5.21017679e-03 1.86536790e-02 4.50205746e+01] [-5.20661224e-03 9.99986417e-01 -2.39651892e-04 1.68229369e+00] [-1.86546742e-02 1.42484467e-04 9.99825976e-01 -9.58697750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72439141799999 meters 0.015633100003555757 Centerline is valid? [True, True] Translation: X:45.08, Y:1.68, Z:-0.96 [[ 9.99825636e-01 4.24925183e-03 1.81835384e-02 4.50833205e+01] [-4.24569808e-03 9.99990960e-01 -2.34037664e-04 1.68381491e+00] [-1.81843685e-02 1.56795042e-04 9.99834638e-01 -9.59661137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78439141799999 meters 0.01634077449995242 Centerline is valid? [True, True] Translation: X:45.15, Y:1.68, Z:-0.96 [[ 9.99852347e-01 1.16667866e-03 1.71442101e-02 4.51454646e+01] [-1.16297968e-03 9.99999298e-01 -2.25724988e-04 1.68022533e+00] [-1.71444614e-02 2.05753291e-04 9.99853002e-01 -9.62140087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844391417999994 meters 0.017973955758206404 Centerline is valid? [True, True] Translation: X:45.21, Y:1.67, Z:-0.97 [[ 9.99877103e-01 -3.84003515e-03 1.51997579e-02 4.52075146e+01] [ 3.84359528e-03 9.99992592e-01 -2.05017403e-04 1.67243015e+00] [-1.51988580e-02 2.63413924e-04 9.99884456e-01 -9.66725834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90439141799999 meters 0.019318584939009707 Centerline is valid? [True, True] Translation: X:45.27, Y:1.67, Z:-0.97 [[ 9.99867142e-01 -6.51667237e-03 1.49409216e-02 4.52694056e+01] [ 6.52040765e-03 9.99978722e-01 -2.01302657e-04 1.66772438e+00] [-1.49392919e-02 2.98696812e-04 9.99888358e-01 -9.68387330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96439141799999 meters 0.019308326233800667 Centerline is valid? [True, True] Translation: X:45.33, Y:1.67, Z:-0.97 [[ 9.99843199e-01 -7.74109933e-03 1.59264969e-02 4.53311742e+01] [ 7.74559520e-03 9.99969978e-01 -2.20623249e-04 1.66509313e+00] [-1.59243108e-02 3.43948853e-04 9.99873141e-01 -9.67984911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02439141799999 meters 0.01969917278262839 Centerline is valid? [True, True] Translation: X:45.39, Y:1.67, Z:-0.97 [[ 9.99849984e-01 -5.44981386e-03 1.64410660e-02 4.53934566e+01] [ 5.45431766e-03 9.99985099e-01 -2.29107680e-04 1.66581962e+00] [-1.64395724e-02 3.18748107e-04 9.99864810e-01 -9.68961295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08439141799999 meters 0.017283237145100636 Centerline is valid? [True, True] Translation: X:45.46, Y:1.67, Z:-0.97 [[ 9.99849734e-01 -2.93969843e-03 1.70841346e-02 4.54560068e+01] [ 2.94421964e-03 9.99995637e-01 -2.39498143e-04 1.66639754e+00] [-1.70833560e-02 2.89761599e-04 9.99854027e-01 -9.69460642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14439141799999 meters 0.01773340157029211 Centerline is valid? [True, True] Translation: X:45.52, Y:1.67, Z:-0.97 [[ 9.99869480e-01 7.88346883e-04 1.61369713e-02 4.55179319e+01] [-7.84778971e-04 9.99999666e-01 -2.27432941e-04 1.66788756e+00] [-1.61371452e-02 2.14739301e-04 9.99869765e-01 -9.72698249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20439141799999 meters 0.01658433848706959 Centerline is valid? [True, True] Translation: X:45.58, Y:1.67, Z:-0.97 [[ 9.99860159e-01 3.92160362e-03 1.62567745e-02 4.55803253e+01] [-3.91837512e-03 9.99992297e-01 -2.30441580e-04 1.66988236e+00] [-1.62575530e-02 1.66709214e-04 9.99867823e-01 -9.73540858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26439141799999 meters 0.015817691998377 Centerline is valid? [True, True] Translation: X:45.64, Y:1.67, Z:-0.98 [[ 9.99838977e-01 9.57972489e-03 1.51739447e-02 4.56424358e+01] [-9.57754648e-03 9.99954111e-01 -2.16226763e-04 1.67211665e+00] [-1.51753197e-02 7.08627858e-05 9.99884846e-01 -9.76152324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32439141799999 meters 0.015174388272723879 Centerline is valid? [True, True] Translation: X:45.70, Y:1.68, Z:-0.98 [[ 9.99778474e-01 1.48675089e-02 1.48983231e-02 4.57038071e+01] [-1.48659763e-02 9.99889472e-01 -2.13615896e-04 1.67679266e+00] [-1.48998524e-02 -7.90954323e-06 9.99888991e-01 -9.76644566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38439141799999 meters 0.015660034660300654 Centerline is valid? [True, True] Translation: X:45.77, Y:1.68, Z:-0.98 [[ 9.99698872e-01 1.91781322e-02 1.53090007e-02 4.57655875e+01] [-1.91770246e-02 9.99816080e-01 -2.19163093e-04 1.67812874e+00] [-1.53103882e-02 -7.44839859e-05 9.99882786e-01 -9.78670550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44439141799999 meters 0.0161477409224175 Centerline is valid? [True, True] Translation: X:45.83, Y:1.68, Z:-0.98 [[ 9.99568726e-01 2.46694173e-02 1.59305251e-02 4.58258528e+01] [-2.46688237e-02 9.99695651e-01 -2.33791357e-04 1.67854865e+00] [-1.59314442e-02 -1.59296787e-04 9.99873074e-01 -9.79602198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50439141799999 meters 0.016884109824026102 Centerline is valid? [True, True] Translation: X:45.89, Y:1.68, Z:-0.98 [[ 9.99482426e-01 2.73790591e-02 1.68898543e-02 4.58856119e+01] [-2.73787753e-02 9.99625100e-01 -2.48075031e-04 1.68084857e+00] [-1.68903144e-02 -2.14476892e-04 9.99857325e-01 -9.79309950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56439141799999 meters 0.017164425530040786 Centerline is valid? [True, True] Translation: X:45.94, Y:1.68, Z:-0.98 [[ 9.99435616e-01 2.84758918e-02 1.78206028e-02 4.59439868e+01] [-2.84757608e-02 9.99594449e-01 -2.61151697e-04 1.68097770e+00] [-1.78208122e-02 -2.46450915e-04 9.99841166e-01 -9.79277598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62439141799999 meters 0.016369068277512326 Centerline is valid? [True, True] Translation: X:46.00, Y:1.67, Z:-0.98 [[ 9.99515923e-01 2.52233410e-02 1.82127304e-02 4.60031462e+01] [-2.52226936e-02 9.99681822e-01 -2.65286459e-04 1.67214551e+00] [-1.82136270e-02 -1.94216080e-04 9.99834099e-01 -9.81539514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68439141799999 meters 0.015638283082465083 Centerline is valid? [True, True] Translation: X:46.06, Y:1.67, Z:-0.98 [[ 9.99589800e-01 2.19275913e-02 1.84231355e-02 4.60623778e+01] [-2.19263824e-02 9.99759552e-01 -2.67633514e-04 1.66662560e+00] [-1.84245742e-02 -1.36428983e-04 9.99830244e-01 -9.82846398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74439141799999 meters 0.01613742923339311 Centerline is valid? [True, True] Translation: X:46.12, Y:1.66, Z:-0.98 [[ 9.99672185e-01 1.85681004e-02 1.76280280e-02 4.61234396e+01] [-1.85664885e-02 9.99827595e-01 -2.55104762e-04 1.66004864e+00] [-1.76297257e-02 -7.22694447e-05 9.99844582e-01 -9.84290643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80439141799999 meters 0.014822358975188996 Centerline is valid? [True, True] Translation: X:46.19, Y:1.65, Z:-0.98 [[ 9.99677732e-01 1.71939378e-02 1.86762071e-02 4.61855578e+01] [-1.71918897e-02 9.99852172e-01 -2.70226228e-04 1.65348778e+00] [-1.86780925e-02 -5.09401480e-05 9.99825548e-01 -9.83785098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86439141799999 meters 0.014797957498428672 Centerline is valid? [True, True] Translation: X:46.25, Y:1.65, Z:-0.98 [[ 9.99651713e-01 1.78115114e-02 1.94731037e-02 4.62477981e+01] [-1.78092836e-02 9.99841361e-01 -2.87830396e-04 1.64741617e+00] [-1.94751412e-02 -5.90718783e-05 9.99810340e-01 -9.84743572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92439141799999 meters 0.015811067639965717 Centerline is valid? [True, True] Translation: X:46.31, Y:1.65, Z:-0.99 [[ 9.99623834e-01 1.91711755e-02 1.96126768e-02 4.63111664e+01] [-1.91691048e-02 9.99816213e-01 -2.93585049e-04 1.64593155e+00] [-1.96147006e-02 -8.24828453e-05 9.99807610e-01 -9.86336542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98439141799999 meters 0.01554061518226224 Centerline is valid? [True, True] Translation: X:46.37, Y:1.65, Z:-0.99 [[ 9.99540177e-01 2.28041499e-02 1.99851206e-02 4.63727187e+01] [-2.28025895e-02 9.99739940e-01 -3.05984239e-04 1.64502375e+00] [-1.99869010e-02 -1.49868961e-04 9.99800231e-01 -9.86530365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04439141799999 meters 0.016422303257730853 Centerline is valid? [True, True] Translation: X:46.43, Y:1.64, Z:-0.99 [[ 9.99409113e-01 2.78804750e-02 2.01023312e-02 4.64342291e+01] [-2.78798081e-02 9.99611233e-01 -3.13479491e-04 1.64067963e+00] [-2.01032561e-02 -2.47154877e-04 9.99797879e-01 -9.88483936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10439141799999 meters 0.018416369902654807 Centerline is valid? [True, True] Translation: X:46.49, Y:1.64, Z:-0.99 [[ 9.99303171e-01 3.13290711e-02 2.02894401e-02 4.64942257e+01] [-3.13290836e-02 9.99509073e-01 -3.17319050e-04 1.63831073e+00] [-2.02894208e-02 -3.18551633e-04 9.99794098e-01 -9.91416260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16439141799999 meters 0.017649640204126554 Centerline is valid? [True, True] Translation: X:46.55, Y:1.64, Z:-0.99 [[ 9.99263586e-01 3.27971988e-02 1.99155541e-02 4.65539093e+01] [-3.27975093e-02 9.99461969e-01 -3.11119098e-04 1.63550391e+00] [-1.99150427e-02 -3.42290583e-04 9.99801617e-01 -9.91096427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22439141799999 meters 0.017212044815968292 Centerline is valid? [True, True] Translation: X:46.61, Y:1.63, Z:-1.00 [[ 9.99363840e-01 3.07889458e-02 1.79987847e-02 4.66129233e+01] [-3.07888852e-02 9.99525871e-01 -2.80537494e-04 1.62572780e+00] [-1.79988884e-02 -2.73803488e-04 9.99837969e-01 -9.95302855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28439141799999 meters 0.01651835304441316 Centerline is valid? [True, True] Translation: X:46.67, Y:1.62, Z:-1.00 [[ 9.99466405e-01 2.76520985e-02 1.73858329e-02 4.66718465e+01] [-2.76515778e-02 9.99617585e-01 -2.70388577e-04 1.62022490e+00] [-1.73866612e-02 -2.10501413e-04 9.99848818e-01 -9.96558295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344391417999994 meters 0.016391163239660857 Centerline is valid? [True, True] Translation: X:46.73, Y:1.61, Z:-1.00 [[ 9.99585676e-01 2.21627261e-02 1.83654313e-02 4.67319476e+01] [-2.21612445e-02 9.99754369e-01 -2.84211752e-04 1.60867275e+00] [-1.83672191e-02 -1.22906816e-04 9.99831301e-01 -9.98293924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40439141799999 meters 0.014682776016164563 Centerline is valid? [True, True] Translation: X:46.79, Y:1.60, Z:-1.00 [[ 9.99644148e-01 1.73717080e-02 2.02435466e-02 4.67929759e+01] [-1.73689270e-02 9.99849100e-01 -3.13202017e-04 1.60066173e+00] [-2.02459327e-02 -3.85181211e-05 9.99795029e-01 -9.96911901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46439141799999 meters 0.01699317319736166 Centerline is valid? [True, True] Translation: X:46.86, Y:1.59, Z:-1.00 [[ 9.99702079e-01 1.41534495e-02 1.98855021e-02 4.68555193e+01] [-1.41501257e-02 9.99899835e-01 -3.07847379e-04 1.59172518e+00] [-1.98878673e-02 2.63733106e-05 9.99802216e-01 -1.00016949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52439141799999 meters 0.01674687409411837 Centerline is valid? [True, True] Translation: X:46.92, Y:1.59, Z:-1.00 [[ 9.99702886e-01 1.31368695e-02 2.05319727e-02 4.69186726e+01] [-1.31329691e-02 9.99913706e-01 -3.24797571e-04 1.58635380e+00] [-2.05344677e-02 5.50553067e-05 9.99789144e-01 -1.00112066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58439141799999 meters 0.01681098861447835 Centerline is valid? [True, True] Translation: X:46.98, Y:1.58, Z:-1.00 [[ 9.99683100e-01 1.33390107e-02 2.13487737e-02 4.69808933e+01] [-1.33346842e-02 9.99911030e-01 -3.45007873e-04 1.57935903e+00] [-2.13514763e-02 6.02193851e-05 9.99772029e-01 -1.00213394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64439141799999 meters 0.01515206689673531 Centerline is valid? [True, True] Translation: X:47.04, Y:1.58, Z:-1.00 [[ 9.99633923e-01 1.57128932e-02 2.20255675e-02 4.70437948e+01] [-1.57087130e-02 9.99876545e-01 -3.62800161e-04 1.57565062e+00] [-2.20285490e-02 1.66740278e-05 9.99757342e-01 -1.00182365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70439141799999 meters 0.015184749778317458 Centerline is valid? [True, True] Translation: X:47.11, Y:1.57, Z:-1.00 [[ 9.99589906e-01 1.92395377e-02 2.12098953e-02 4.71068309e+01] [-1.92363154e-02 9.99814902e-01 -3.55956492e-04 1.57338383e+00] [-2.12128178e-02 -5.21897193e-05 9.99774982e-01 -1.00401494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76439141799999 meters 0.015449213219055147 Centerline is valid? [True, True] Translation: X:47.17, Y:1.57, Z:-1.01 [[ 9.99482856e-01 2.48519702e-02 2.04058712e-02 4.71687639e+01] [-2.48500274e-02 9.99691130e-01 -3.48811952e-04 1.57141959e+00] [-2.04082370e-02 -1.58454891e-04 9.99791718e-01 -1.00671880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82439141799999 meters 0.016439160763756684 Centerline is valid? [True, True] Translation: X:47.23, Y:1.57, Z:-1.01 [[ 9.99365786e-01 2.91874535e-02 2.03990026e-02 4.72296398e+01] [-2.91862998e-02 9.99573926e-01 -3.54334440e-04 1.57096989e+00] [-2.04006533e-02 -2.41261691e-04 9.99791856e-01 -1.00783623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88439141799999 meters 0.018576274851404253 Centerline is valid? [True, True] Translation: X:47.29, Y:1.57, Z:-1.01 [[ 9.99215796e-01 3.37314905e-02 2.07359442e-02 4.72908992e+01] [-3.37311610e-02 9.99430876e-01 -3.65751427e-04 1.56764054e+00] [-2.07364802e-02 -3.33982868e-04 9.99784920e-01 -1.01046881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94439141799999 meters 0.01775455857275865 Centerline is valid? [True, True] Translation: X:47.35, Y:1.56, Z:-1.01 [[ 9.99215955e-01 3.33693927e-02 2.13063142e-02 4.73502839e+01] [-3.33689437e-02 9.99443031e-01 -3.76699226e-04 1.56099186e+00] [-2.13070175e-02 -3.34565323e-04 9.99772924e-01 -1.01039887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00439141799999 meters 0.01678996803428632 Centerline is valid? [True, True] Translation: X:47.41, Y:1.55, Z:-1.01 [[ 9.99265819e-01 3.17608737e-02 2.14259157e-02 4.74108658e+01] [-3.17600589e-02 9.99495450e-01 -3.78394831e-04 1.55295616e+00] [-2.14271234e-02 -3.02371325e-04 9.99770367e-01 -1.01160127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06439141799999 meters 0.015703975449742662 Centerline is valid? [True, True] Translation: X:47.47, Y:1.54, Z:-1.01 [[ 9.99383647e-01 2.72867821e-02 2.20852174e-02 4.74716953e+01] [-2.72848241e-02 9.99627624e-01 -3.90040038e-04 1.53988258e+00] [-2.20876363e-02 -2.12791634e-04 9.99756016e-01 -1.01215428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12439141799999 meters 0.017156656030147318 Centerline is valid? [True, True] Translation: X:47.53, Y:1.53, Z:-1.02 [[ 9.99488359e-01 2.35599785e-02 2.16320774e-02 4.75334433e+01] [-2.35572110e-02 9.99722417e-01 -3.82784521e-04 1.53048259e+00] [-2.16350911e-02 -1.27002739e-04 9.99765926e-01 -1.01503641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18439141799999 meters 0.015944243399827505 Centerline is valid? [True, True] Translation: X:47.59, Y:1.52, Z:-1.02 [[ 9.99630591e-01 1.55217411e-02 2.23104573e-02 4.75942059e+01] [-1.55166483e-02 9.99879529e-01 -4.01374155e-04 1.51701090e+00] [-2.23139995e-02 5.50423644e-05 9.99751010e-01 -1.01535228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24439141799999 meters 0.015687098401919446 Centerline is valid? [True, True] Translation: X:47.66, Y:1.51, Z:-1.02 [[ 9.99704856e-01 9.31771414e-03 2.24361374e-02 4.76552720e+01] [-9.31086894e-03 9.99956569e-01 -4.09543073e-04 1.50565663e+00] [-2.24389790e-02 2.00522265e-04 9.99748194e-01 -1.01628410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30439141799999 meters 0.020991212453130157 Centerline is valid? [True, True] Translation: X:47.72, Y:1.49, Z:-1.02 [[ 9.99792794e-01 1.67370619e-03 2.02871243e-02 4.77164842e+01] [-1.66644348e-03 9.99998541e-01 -3.74896192e-04 1.49057408e+00] [-2.02877222e-02 3.41011165e-04 9.99794125e-01 -1.02150619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36439141799999 meters 0.020777531670600397 Centerline is valid? [True, True] Translation: X:47.78, Y:1.49, Z:-1.02 [[ 9.99774003e-01 -2.12039796e-03 2.11529594e-02 4.77788253e+01] [ 2.12925765e-03 9.99997655e-01 -3.96325679e-04 1.48526986e+00] [-2.11520695e-02 4.41276211e-04 9.99776173e-01 -1.02129760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42439141799999 meters 0.021030776426622235 Centerline is valid? [True, True] Translation: X:47.84, Y:1.48, Z:-1.02 [[ 9.99758275e-01 -2.81987423e-03 2.18045865e-02 4.78400795e+01] [ 2.82959387e-03 9.99995911e-01 -4.14921342e-04 1.48123135e+00] [-2.18033273e-02 4.76519170e-04 9.99762166e-01 -1.02160160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48439141799999 meters 0.019816208273263584 Centerline is valid? [True, True] Translation: X:47.90, Y:1.48, Z:-1.02 [[ 9.99733320e-01 -4.71701679e-03 2.26061502e-02 4.79018759e+01] [ 4.72808648e-03 9.99988727e-01 -4.36251786e-04 1.47712143e+00] [-2.26038375e-02 5.43019280e-04 9.99744353e-01 -1.02177973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54439141799999 meters 0.021746202989624843 Centerline is valid? [True, True] Translation: X:47.96, Y:1.47, Z:-1.03 [[ 9.99767025e-01 -6.49712450e-03 2.05835720e-02 4.79637037e+01] [ 6.50678840e-03 9.99978750e-01 -4.02555889e-04 1.47252383e+00] [-2.05805192e-02 5.36395051e-04 9.99788055e-01 -1.02629803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60439141799999 meters 0.022007246807565165 Centerline is valid? [True, True] Translation: X:48.03, Y:1.47, Z:-1.03 [[ 9.99742562e-01 -8.55667053e-03 2.10141173e-02 4.80255997e+01] [ 8.56732605e-03 9.99963213e-01 -4.17088513e-04 1.46858686e+00] [-2.10097754e-02 5.97015933e-04 9.99779092e-01 -1.02642022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66439141799999 meters 0.02558934341257092 Centerline is valid? [True, True] Translation: X:48.09, Y:1.47, Z:-1.03 [[ 9.99780831e-01 -1.04881942e-02 1.81187305e-02 4.80878449e+01] [ 1.04965231e-02 9.99944843e-01 -3.64646072e-04 1.46605368e+00] [-1.81139066e-02 5.54749827e-04 9.99835776e-01 -1.03198888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72439141799999 meters 0.024597727575656817 Centerline is valid? [True, True] Translation: X:48.15, Y:1.47, Z:-1.03 [[ 9.99786304e-01 -1.09055003e-02 1.75617886e-02 4.81499321e+01] [ 1.09134131e-02 9.99940384e-01 -3.54788948e-04 1.46645749e+00] [-1.75568725e-02 5.46372184e-04 9.99845717e-01 -1.03345368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78439141799999 meters 0.022502130408120102 Centerline is valid? [True, True] Translation: X:48.21, Y:1.47, Z:-1.03 [[ 9.99797257e-01 -8.54323460e-03 1.82334395e-02 4.82115035e+01] [ 8.55140167e-03 9.99963368e-01 -3.69995819e-04 1.46916868e+00] [-1.82296107e-02 5.25842270e-04 9.99833689e-01 -1.03245889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84439141799999 meters 0.023925871732491114 Centerline is valid? [True, True] Translation: X:48.27, Y:1.47, Z:-1.04 [[ 9.99838580e-01 -5.30256306e-03 1.71667417e-02 4.82741763e+01] [ 5.30933820e-03 9.99985844e-01 -3.49114986e-04 1.46999030e+00] [-1.71646475e-02 4.40202669e-04 9.99852580e-01 -1.03669081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90439141799999 meters 0.02092857971608164 Centerline is valid? [True, True] Translation: X:48.34, Y:1.47, Z:-1.04 [[ 9.99816521e-01 4.69672279e-04 1.91495243e-02 4.83353574e+01] [-4.62255047e-04 9.99999816e-01 -3.91756957e-04 1.47482966e+00] [-1.91497048e-02 3.82833113e-04 9.99816554e-01 -1.03502153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96439141799999 meters 0.019027991253155865 Centerline is valid? [True, True] Translation: X:48.40, Y:1.49, Z:-1.04 [[ 9.99732731e-01 1.25150558e-02 1.94381089e-02 4.83975120e+01] [-1.25096752e-02 9.99921672e-01 -3.98381107e-04 1.48889609e+00] [-1.94415721e-02 1.55110204e-04 9.99810983e-01 -1.03632850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02439141799999 meters 0.015089905636631004 Centerline is valid? [True, True] Translation: X:48.46, Y:1.50, Z:-1.04 [[ 9.99563931e-01 2.18679270e-02 1.98429249e-02 4.84591600e+01] [-2.18641387e-02 9.99760868e-01 -4.07867066e-04 1.49952792e+00] [-1.98470990e-02 -2.61592548e-05 9.99803027e-01 -1.03554442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08439141799999 meters 0.015375174569065626 Centerline is valid? [True, True] Translation: X:48.52, Y:1.50, Z:-1.04 [[ 9.99495772e-01 2.54944569e-02 1.89270881e-02 4.85221876e+01] [-2.54916550e-02 9.99674959e-01 -3.89323438e-04 1.50246481e+00] [-1.89308616e-02 -9.33556711e-05 9.99820791e-01 -1.03744138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14439141799999 meters 0.014947843517489644 Centerline is valid? [True, True] Translation: X:48.58, Y:1.50, Z:-1.04 [[ 9.99502838e-01 2.54893539e-02 1.85572099e-02 4.85844460e+01] [-2.54865578e-02 9.99675090e-01 -3.87196802e-04 1.50257209e+00] [-1.85610498e-02 -8.59550987e-05 9.99827725e-01 -1.03842766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20439141799999 meters 0.015583468346178912 Centerline is valid? [True, True] Translation: X:48.65, Y:1.50, Z:-1.04 [[ 9.99556494e-01 2.33716583e-02 1.84548522e-02 4.86469539e+01] [-2.33684378e-02 9.99726845e-01 -3.90166934e-04 1.49905446e+00] [-1.84589300e-02 -4.12671734e-05 9.99829619e-01 -1.04103303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26439141799999 meters 0.01773483258993423 Centerline is valid? [True, True] Translation: X:48.71, Y:1.50, Z:-1.05 [[ 9.99627752e-01 2.12756690e-02 1.70793186e-02 4.87097492e+01] [-2.12725344e-02 9.99773647e-01 -3.65204562e-04 1.49542963e+00] [-1.70832226e-02 1.74822309e-06 9.99854071e-01 -1.04541603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32439141799999 meters 0.014789293312378774 Centerline is valid? [True, True] Translation: X:48.77, Y:1.50, Z:-1.04 [[ 9.99623570e-01 2.11014302e-02 1.75341855e-02 4.87734091e+01] [-2.10979975e-02 9.99777340e-01 -3.80751016e-04 1.49528469e+00] [-1.75383157e-02 1.06714894e-05 9.99846192e-01 -1.04326827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38439141799999 meters 0.014740644131405066 Centerline is valid? [True, True] Translation: X:48.84, Y:1.50, Z:-1.04 [[ 9.99550827e-01 2.35550109e-02 1.85285129e-02 4.88358502e+01] [-2.35514722e-02 9.99722542e-01 -4.09195542e-04 1.49634095e+00] [-1.85330106e-02 -2.73620139e-05 9.99828249e-01 -1.04354750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44439141799999 meters 0.015411632930500503 Centerline is valid? [True, True] Translation: X:48.90, Y:1.50, Z:-1.05 [[ 9.99476233e-01 2.62109094e-02 1.89801961e-02 4.88978603e+01] [-2.62076056e-02 9.99656432e-01 -4.22820269e-04 1.49597567e+00] [-1.89847577e-02 -7.48266858e-05 9.99819770e-01 -1.04545012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50439141799999 meters 0.01633545093009243 Centerline is valid? [True, True] Translation: X:48.96, Y:1.50, Z:-1.05 [[ 9.99423403e-01 2.87199935e-02 1.81114108e-02 4.89598085e+01] [-2.87173109e-02 9.99587490e-01 -4.08230461e-04 1.49518611e+00] [-1.81156640e-02 -1.12115937e-04 9.99835892e-01 -1.04809358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56439141799999 meters 0.014626619138772144 Centerline is valid? [True, True] Translation: X:49.02, Y:1.49, Z:-1.05 [[ 9.99417326e-01 2.85706550e-02 1.86741877e-02 4.90206649e+01] [-2.85676603e-02 9.99591770e-01 -4.27157709e-04 1.49306990e+00] [-1.86787685e-02 -1.06569036e-04 9.99825531e-01 -1.04810101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62439141799999 meters 0.01681816945560059 Centerline is valid? [True, True] Translation: X:49.08, Y:1.49, Z:-1.05 [[ 9.99431088e-01 2.85045926e-02 1.80274308e-02 4.90820818e+01] [-2.85017786e-02 9.99593656e-01 -4.13057904e-04 1.49011956e+00] [-1.80318795e-02 -1.00990931e-04 9.99837407e-01 -1.05249641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68439141799999 meters 0.01770855875521279 Centerline is valid? [True, True] Translation: X:49.14, Y:1.49, Z:-1.06 [[ 9.99452050e-01 2.84790964e-02 1.68683619e-02 4.91425145e+01] [-2.84766170e-02 9.99594384e-01 -3.87213851e-04 1.48842293e+00] [-1.68725474e-02 -9.33522043e-05 9.99857644e-01 -1.05522931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74439141799999 meters 0.016586264634618448 Centerline is valid? [True, True] Translation: X:49.20, Y:1.49, Z:-1.06 [[ 9.99452597e-01 2.78654779e-02 1.78331611e-02 4.92026977e+01] [-2.78626009e-02 9.99611678e-01 -4.09815030e-04 1.48675173e+00] [-1.78376558e-02 -8.72875559e-05 9.99840893e-01 -1.05526670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80439141799999 meters 0.01704414352871437 Centerline is valid? [True, True] Translation: X:49.26, Y:1.48, Z:-1.06 [[ 9.99472480e-01 2.71854370e-02 1.77683133e-02 4.92643845e+01] [-2.71824763e-02 9.99630405e-01 -4.08163295e-04 1.48381490e+00] [-1.77728423e-02 -7.50387734e-05 9.99842048e-01 -1.05679026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86439141799999 meters 0.0161008681221998 Centerline is valid? [True, True] Translation: X:49.33, Y:1.48, Z:-1.06 [[ 9.99477762e-01 2.71408887e-02 1.75378091e-02 4.93256974e+01] [-2.71379862e-02 9.99631616e-01 -4.03510818e-04 1.48206776e+00] [-1.75423000e-02 -7.26407306e-05 9.99846119e-01 -1.05742103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92439141799999 meters 0.0171832553050956 Centerline is valid? [True, True] Translation: X:49.39, Y:1.48, Z:-1.06 [[ 9.99462372e-01 2.75487672e-02 1.77772858e-02 4.93873841e+01] [-2.75458367e-02 9.99620457e-01 -4.09737002e-04 1.47865554e+00] [-1.77818263e-02 -8.01734937e-05 9.99841888e-01 -1.05933804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98439141799999 meters 0.014989110365926058 Centerline is valid? [True, True] Translation: X:49.45, Y:1.48, Z:-1.06 [[ 9.99489176e-01 2.60747358e-02 1.84796144e-02 4.94485352e+01] [-2.60713028e-02 9.99659995e-01 -4.26705609e-04 1.47517859e+00] [-1.84844574e-02 -5.52999842e-05 9.99829146e-01 -1.05776445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04439141799999 meters 0.014806308274756676 Centerline is valid? [True, True] Translation: X:49.51, Y:1.47, Z:-1.06 [[ 9.99507631e-01 2.56303178e-02 1.80992548e-02 4.95110731e+01] [-2.56269559e-02 9.99671488e-01 -4.17692347e-04 1.47163610e+00] [-1.81040146e-02 -4.63421173e-05 9.99836108e-01 -1.05902853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10439141799999 meters 0.01486368294556991 Centerline is valid? [True, True] Translation: X:49.57, Y:1.47, Z:-1.06 [[ 9.99509862e-01 2.57794270e-02 1.77611186e-02 4.95721555e+01] [-2.57761245e-02 9.99667654e-01 -4.14879033e-04 1.46904830e+00] [-1.77659111e-02 -4.31371194e-05 9.99842173e-01 -1.06099036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16439141799999 meters 0.016227098470245328 Centerline is valid? [True, True] Translation: X:49.63, Y:1.47, Z:-1.06 [[ 9.99513038e-01 2.59165918e-02 1.73786167e-02 4.96347881e+01] [-2.59133776e-02 9.99664108e-01 -4.10148513e-04 1.46563158e+00] [-1.73834090e-02 -4.03898714e-05 9.99848896e-01 -1.06366899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22439141799999 meters 0.014780534846463536 Centerline is valid? [True, True] Translation: X:49.70, Y:1.46, Z:-1.06 [[ 9.99566512e-01 2.31417668e-02 1.82001828e-02 4.96956037e+01] [-2.31376797e-02 9.99732193e-01 -4.35136846e-04 1.45987901e+00] [-1.82053785e-02 1.38382204e-05 9.99834268e-01 -1.06459179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28439141799999 meters 0.014936514712678586 Centerline is valid? [True, True] Translation: X:49.76, Y:1.45, Z:-1.07 [[ 9.99607360e-01 2.03702293e-02 1.92400741e-02 4.97580064e+01] [-2.03650473e-02 9.99792503e-01 -4.65247060e-04 1.45458508e+00] [-1.92455590e-02 7.32393673e-05 9.99814784e-01 -1.06601121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34439141799999 meters 0.015968124555177668 Centerline is valid? [True, True] Translation: X:49.82, Y:1.45, Z:-1.07 [[ 9.99715464e-01 1.41609075e-02 1.91952999e-02 4.98204458e+01] [-1.41544955e-02 9.99899710e-01 -4.69869851e-04 1.44692301e+00] [-1.92000286e-02 1.98036370e-04 9.99815643e-01 -1.06780073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40439141799999 meters 0.017120186904300824 Centerline is valid? [True, True] Translation: X:49.88, Y:1.44, Z:-1.07 [[ 9.99753577e-01 1.02168950e-02 1.97078774e-02 4.98828546e+01] [-1.02092621e-02 9.99947765e-01 -4.87877504e-04 1.44086855e+00] [-1.97118325e-02 2.86554394e-04 9.99805662e-01 -1.06996417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46439141799999 meters 0.019540783011962284 Centerline is valid? [True, True] Translation: X:49.94, Y:1.43, Z:-1.07 [[ 9.99726033e-01 5.67390158e-03 2.27082755e-02 4.99442334e+01] [-5.66242844e-03 9.99983806e-01 -5.69509431e-04 1.43073950e+00] [-2.27111391e-02 4.40769420e-04 9.99741972e-01 -1.06978385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524391417999986 meters 0.018657555123015857 Centerline is valid? [True, True] Translation: X:50.01, Y:1.43, Z:-1.07 [[ 9.99720099e-01 5.88743539e-03 2.29142389e-02 5.00077214e+01] [-5.87567109e-03 9.99982569e-01 -5.80699214e-04 1.43177664e+00] [-2.29172583e-02 4.45900144e-04 9.99737266e-01 -1.07102640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58439141799999 meters 0.0182927295096169 Centerline is valid? [True, True] Translation: X:50.07, Y:1.43, Z:-1.07 [[ 9.99697109e-01 8.62706902e-03 2.30491590e-02 5.00691947e+01] [-8.61572363e-03 9.99962709e-01 -5.91488007e-04 1.43131228e+00] [-2.30534023e-02 3.92723666e-04 9.99734158e-01 -1.07339350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64439141799999 meters 0.016899863691898664 Centerline is valid? [True, True] Translation: X:50.13, Y:1.43, Z:-1.08 [[ 9.99681898e-01 1.18569278e-02 2.22601873e-02 5.01318115e+01] [-1.18470239e-02 9.99929655e-01 -5.76741302e-04 1.43311403e+00] [-2.22654598e-02 3.12840869e-04 9.99752045e-01 -1.07634558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70439141799999 meters 0.017547601795275314 Centerline is valid? [True, True] Translation: X:50.19, Y:1.44, Z:-1.08 [[ 9.99578321e-01 1.87694862e-02 2.21559600e-02 5.01930328e+01] [-1.87612342e-02 9.99823824e-01 -5.80275881e-04 1.43836662e+00] [-2.21629481e-02 1.64358038e-04 9.99754358e-01 -1.07818801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76439141799999 meters 0.014729974709468852 Centerline is valid? [True, True] Translation: X:50.26, Y:1.44, Z:-1.08 [[ 9.99457211e-01 2.33624552e-02 2.32266883e-02 5.02556500e+01] [-2.33545861e-02 9.99727058e-01 -6.10036956e-04 1.44234162e+00] [-2.32346007e-02 6.72561445e-05 9.99730038e-01 -1.07822232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82439141799999 meters 0.014517681867012263 Centerline is valid? [True, True] Translation: X:50.32, Y:1.44, Z:-1.08 [[ 9.99390180e-01 2.70545339e-02 2.20753283e-02 5.03184205e+01] [-2.70481960e-02 9.99633959e-01 -5.85694291e-04 1.44419624e+00] [-2.20830935e-02 -1.17606839e-05 9.99756139e-01 -1.08109393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88439141799999 meters 0.014369889666468294 Centerline is valid? [True, True] Translation: X:50.38, Y:1.44, Z:-1.08 [[ 9.99359994e-01 2.87842559e-02 2.12383879e-02 5.03811654e+01] [-2.87786400e-02 9.99585647e-01 -5.70080744e-04 1.44366409e+00] [-2.12459971e-02 -4.14960314e-05 9.99774277e-01 -1.08399755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94439141799999 meters 0.014758316703450059 Centerline is valid? [True, True] Translation: X:50.44, Y:1.44, Z:-1.09 [[ 9.99406735e-01 2.78065718e-02 2.03217289e-02 5.04445762e+01] [-2.78010996e-02 9.99613322e-01 -5.51794815e-04 1.44207605e+00] [-2.03292145e-02 -1.34989555e-05 9.99793340e-01 -1.08639441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00439141799999 meters 0.014550235556706419 Centerline is valid? [True, True] Translation: X:50.51, Y:1.44, Z:-1.09 [[ 9.99506946e-01 2.40112384e-02 2.02317800e-02 5.05076466e+01] [-2.40049073e-02 9.99711686e-01 -5.55760339e-04 1.43794445e+00] [-2.02392914e-02 6.98243149e-05 9.99795162e-01 -1.08789130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06439141799999 meters 0.015899162827748708 Centerline is valid? [True, True] Translation: X:50.57, Y:1.43, Z:-1.09 [[ 9.99559466e-01 2.10910463e-02 2.08816230e-02 5.05691243e+01] [-2.10835173e-02 9.99777549e-01 -5.80668161e-04 1.43225286e+00] [-2.08892248e-02 1.40154297e-04 9.99781787e-01 -1.08906342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12439141799999 meters 0.015947380753631935 Centerline is valid? [True, True] Translation: X:50.63, Y:1.43, Z:-1.09 [[ 9.99620743e-01 1.74606474e-02 2.12954671e-02 5.06313474e+01] [-1.74518737e-02 9.99847526e-01 -5.97788274e-04 1.42816186e+00] [-2.13026579e-02 2.25915756e-04 9.99773047e-01 -1.08877231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18439141799999 meters 0.018648865368820582 Centerline is valid? [True, True] Translation: X:50.69, Y:1.43, Z:-1.09 [[ 9.99654800e-01 1.67544054e-02 2.02378664e-02 5.06939935e+01] [-1.67462348e-02 9.99859608e-01 -5.73143950e-04 1.42655175e+00] [-2.02446279e-02 2.34038038e-04 9.99795029e-01 -1.09255147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24439141799999 meters 0.01683579934853359 Centerline is valid? [True, True] Translation: X:50.76, Y:1.42, Z:-1.09 [[ 9.99657807e-01 1.52885325e-02 2.12256748e-02 5.07564533e+01] [-1.52790595e-02 9.99883083e-01 -6.08409029e-04 1.42329040e+00] [-2.12324948e-02 2.83892488e-04 9.99774525e-01 -1.09271144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30439141799999 meters 0.016519816485125752 Centerline is valid? [True, True] Translation: X:50.82, Y:1.42, Z:-1.09 [[ 9.99676018e-01 1.47422255e-02 2.07490924e-02 5.08193984e+01] [-1.47329381e-02 9.99891284e-01 -6.00406398e-04 1.42229869e+00] [-2.07556880e-02 2.94516783e-04 9.99784534e-01 -1.09384394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36439141799999 meters 0.01923278478014429 Centerline is valid? [True, True] Translation: X:50.88, Y:1.42, Z:-1.10 [[ 9.99676045e-01 1.62346904e-02 1.96020346e-02 5.08810102e+01] [-1.62265637e-02 9.99868176e-01 -5.73576950e-04 1.42235682e+00] [-1.96087624e-02 2.55317475e-04 9.99807697e-01 -1.09829859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42439141799999 meters 0.01657780521139508 Centerline is valid? [True, True] Translation: X:50.94, Y:1.42, Z:-1.10 [[ 9.99676345e-01 1.77019601e-02 1.82714281e-02 5.09426416e+01] [-1.76950958e-02 9.99843285e-01 -5.37303315e-04 1.42201647e+00] [-1.82780760e-02 2.13814745e-04 9.99832919e-01 -1.10016677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48439141799999 meters 0.015552820701494543 Centerline is valid? [True, True] Translation: X:51.01, Y:1.42, Z:-1.10 [[ 9.99632684e-01 2.08077893e-02 1.73647304e-02 5.10050188e+01] [-2.08020235e-02 9.99783483e-01 -5.12622281e-04 1.42353680e+00] [-1.73716372e-02 1.51212456e-04 9.99849090e-01 -1.10247153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54439141799999 meters 0.014670303280263627 Centerline is valid? [True, True] Translation: X:51.07, Y:1.43, Z:-1.10 [[ 9.99474955e-01 2.73876745e-02 1.73127283e-02 5.10672531e+01] [-2.73828501e-02 9.99624886e-01 -5.15700053e-04 1.42884480e+00] [-1.73203578e-02 4.13574445e-05 9.99849990e-01 -1.10328700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60439141799999 meters 0.01627080019258147 Centerline is valid? [True, True] Translation: X:51.13, Y:1.43, Z:-1.11 [[ 9.99330526e-01 3.24493306e-02 1.68979232e-02 5.11281112e+01] [-3.24453631e-02 9.99473381e-01 -5.08961519e-04 1.43179263e+00] [-1.69055399e-02 -3.96384723e-05 9.99857090e-01 -1.10634204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66439141799999 meters 0.014887659867196402 Centerline is valid? [True, True] Translation: X:51.19, Y:1.43, Z:-1.11 [[ 9.99218457e-01 3.57889932e-02 1.67816072e-02 5.11879731e+01] [-3.57855409e-02 9.99359364e-01 -5.06064162e-04 1.43429780e+00] [-1.67889679e-02 -9.48702400e-05 9.99859051e-01 -1.10531900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72439141799999 meters 0.014793588959125588 Centerline is valid? [True, True] Translation: X:51.25, Y:1.43, Z:-1.11 [[ 9.99214422e-01 3.57824923e-02 1.70338240e-02 5.12473907e+01] [-3.57789454e-02 9.99359597e-01 -5.13029587e-04 1.43183221e+00] [-1.70412730e-02 -9.68256971e-05 9.99854782e-01 -1.10559395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78439141799999 meters 0.016535979114480036 Centerline is valid? [True, True] Translation: X:51.31, Y:1.42, Z:-1.11 [[ 9.99354666e-01 3.20107714e-02 1.62960830e-02 5.13062246e+01] [-3.20070356e-02 9.99487523e-01 -4.90070681e-04 1.42413073e+00] [-1.63034192e-02 -3.18348867e-05 9.99867090e-01 -1.10988548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84439141799999 meters 0.01669289710222787 Centerline is valid? [True, True] Translation: X:51.37, Y:1.42, Z:-1.11 [[ 9.99533694e-01 2.61917588e-02 1.56966966e-02 5.13663441e+01] [-2.61875818e-02 9.99656935e-01 -4.71622221e-04 1.41658116e+00] [-1.57036642e-02 6.03437745e-05 9.99876688e-01 -1.11141393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90439141799999 meters 0.017847446226831213 Centerline is valid? [True, True] Translation: X:51.43, Y:1.41, Z:-1.11 [[ 9.99599098e-01 2.37446769e-02 1.54218258e-02 5.14276526e+01] [-2.37403579e-02 9.99718051e-01 -4.63096765e-04 1.41267079e+00] [-1.54284737e-02 9.67914458e-05 9.99880969e-01 -1.11313377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96439141799999 meters 0.017886950005405324 Centerline is valid? [True, True] Translation: X:51.49, Y:1.41, Z:-1.11 [[ 9.99584914e-01 2.41883516e-02 1.56500093e-02 5.14885634e+01] [-2.41839698e-02 9.99707415e-01 -4.69205062e-04 1.41051350e+00] [-1.56567796e-02 9.05309494e-05 9.99877421e-01 -1.11287695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024391417999986 meters 0.018350348327087034 Centerline is valid? [True, True] Translation: X:51.55, Y:1.41, Z:-1.11 [[ 9.99547725e-01 2.56148865e-02 1.57550778e-02 5.15501452e+01] [-2.56105367e-02 9.99671882e-01 -4.77822123e-04 1.41030264e+00] [-1.57621476e-02 7.41100179e-05 9.99875767e-01 -1.11349852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08439141799999 meters 0.014348364018517681 Centerline is valid? [True, True] Translation: X:51.61, Y:1.41, Z:-1.11 [[ 9.99467493e-01 2.77764986e-02 1.71229586e-02 5.16113585e+01] [-2.77716651e-02 9.99614158e-01 -5.20049261e-04 1.40996933e+00] [-1.71307970e-02 4.42392593e-05 9.99853256e-01 -1.11167248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14439141799999 meters 0.01422110336520746 Centerline is valid? [True, True] Translation: X:51.67, Y:1.41, Z:-1.11 [[ 9.99439204e-01 2.86918877e-02 1.72641877e-02 5.16731211e+01] [-2.86870989e-02 9.99588303e-01 -5.25016969e-04 1.40883533e+00] [-1.72721438e-02 2.94630804e-05 9.99850825e-01 -1.11188736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204391417999986 meters 0.01419404949779042 Centerline is valid? [True, True] Translation: X:51.73, Y:1.40, Z:-1.11 [[ 9.99497754e-01 2.72966231e-02 1.60976625e-02 5.17347047e+01] [-2.72922691e-02 9.99627376e-01 -4.90133744e-04 1.40498183e+00] [-1.61050431e-02 5.05458393e-05 9.99870304e-01 -1.11386614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26439141799999 meters 0.014727376198116182 Centerline is valid? [True, True] Translation: X:51.80, Y:1.40, Z:-1.12 [[ 9.99612224e-01 2.41831777e-02 1.38049055e-02 5.17961362e+01] [-2.41796729e-02 9.99707540e-01 -4.20759280e-04 1.39919495e+00] [-1.38110434e-02 8.67980198e-05 9.99904619e-01 -1.11724261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32439141799999 meters 0.016480982378151127 Centerline is valid? [True, True] Translation: X:51.86, Y:1.39, Z:-1.12 [[ 9.99655372e-01 2.31066341e-02 1.24587747e-02 5.18570321e+01] [-2.31036908e-02 9.99733002e-01 -3.80136214e-04 1.39382920e+00] [-1.24642319e-02 9.21615301e-05 9.99922314e-01 -1.11989938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38439141799999 meters 0.0149012541455302 Centerline is valid? [True, True] Translation: X:51.92, Y:1.39, Z:-1.12 [[ 9.99653517e-01 2.23276774e-02 1.39399209e-02 5.19174062e+01] [-2.23239033e-02 9.99750700e-01 -4.26309816e-04 1.38938981e+00] [-1.39459642e-02 1.14968662e-04 9.99902744e-01 -1.11858841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44439141799999 meters 0.0169152907586891 Centerline is valid? [True, True] Translation: X:51.98, Y:1.39, Z:-1.12 [[ 9.99641656e-01 2.32212719e-02 1.33166230e-02 5.19784279e+01] [-2.32179115e-02 9.99730345e-01 -4.06908840e-04 1.38709255e+00] [-1.33224811e-02 9.75788514e-05 9.99911247e-01 -1.12109348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50439141799999 meters 0.014841933141569185 Centerline is valid? [True, True] Translation: X:52.04, Y:1.38, Z:-1.12 [[ 9.99630243e-01 2.37199992e-02 1.32943399e-02 5.20392414e+01] [-2.37166873e-02 9.99718637e-01 -4.06746527e-04 1.38294965e+00] [-1.33002473e-02 9.12984288e-05 9.99911544e-01 -1.12174895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56439141799999 meters 0.015034527008864816 Centerline is valid? [True, True] Translation: X:52.10, Y:1.38, Z:-1.12 [[ 9.99595516e-01 2.51565615e-02 1.32647008e-02 5.21002838e+01] [-2.51533841e-02 9.99683521e-01 -4.06344448e-04 1.37932888e+00] [-1.32707250e-02 7.25279745e-05 9.99911937e-01 -1.12278839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62439141799999 meters 0.014844392305762828 Centerline is valid? [True, True] Translation: X:52.16, Y:1.38, Z:-1.12 [[ 9.99574446e-01 2.58706583e-02 1.34772395e-02 5.21611693e+01] [-2.58674313e-02 9.99665296e-01 -4.13731954e-04 1.37688579e+00] [-1.34834321e-02 6.49343222e-05 9.99909092e-01 -1.12381519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68439141799999 meters 0.014960436963260108 Centerline is valid? [True, True] Translation: X:52.22, Y:1.38, Z:-1.12 [[ 9.99441126e-01 3.02582072e-02 1.42083380e-02 5.22215958e+01] [-3.02550639e-02 9.99542116e-01 -4.36175632e-04 1.37599263e+00] [-1.42150301e-02 6.05769032e-06 9.99898961e-01 -1.12393260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74439141799999 meters 0.014331052760989664 Centerline is valid? [True, True] Translation: X:52.28, Y:1.37, Z:-1.12 [[ 9.99340383e-01 3.33374154e-02 1.44018980e-02 5.22813310e+01] [-3.33345014e-02 9.99444153e-01 -4.42411247e-04 1.37417474e+00] [-1.44086416e-02 -3.79606634e-05 9.99896189e-01 -1.12467952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80439141799999 meters 0.016049433667392664 Centerline is valid? [True, True] Translation: X:52.34, Y:1.37, Z:-1.13 [[ 9.99177640e-01 3.86060997e-02 1.23940505e-02 5.23398389e+01] [-3.86043490e-02 9.99254502e-01 -3.80549434e-04 1.37226230e+00] [-1.23995023e-02 -9.82277664e-05 9.99923118e-01 -1.12852869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86439141799999 meters 0.01613876795133196 Centerline is valid? [True, True] Translation: X:52.40, Y:1.37, Z:-1.13 [[ 9.99062981e-01 4.13912413e-02 1.26461885e-02 5.23973551e+01] [-4.13896469e-02 9.99143006e-01 -3.87886253e-04 1.37040235e+00] [-1.26514059e-02 -1.35898481e-04 9.99919959e-01 -1.12916366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92439141799999 meters 0.01854815408428041 Centerline is valid? [True, True] Translation: X:52.46, Y:1.37, Z:-1.13 [[ 9.99058841e-01 4.16825864e-02 1.19997410e-02 5.24561641e+01] [-4.16811878e-02 9.99130894e-01 -3.66729812e-04 1.36606562e+00] [-1.20045982e-02 -1.33778798e-04 9.99927933e-01 -1.13312364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98439141799999 meters 0.01664849082028981 Centerline is valid? [True, True] Translation: X:52.52, Y:1.36, Z:-1.13 [[ 9.99160398e-01 3.88539929e-02 1.29948429e-02 5.25150746e+01] [-3.88521227e-02 9.99244893e-01 -3.96436199e-04 1.35744933e+00] [-1.30004335e-02 -1.08773879e-04 9.99915485e-01 -1.13248911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04439141799999 meters 0.018281817929891753 Centerline is valid? [True, True] Translation: X:52.57, Y:1.35, Z:-1.14 [[ 9.99275006e-01 3.64919828e-02 1.08534724e-02 5.25744059e+01] [-3.64905502e-02 9.99333944e-01 -3.30061765e-04 1.35257539e+00] [-1.08582880e-02 -6.62267064e-05 9.99941045e-01 -1.13667706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10439141799999 meters 0.01565610767787492 Centerline is valid? [True, True] Translation: X:52.63, Y:1.34, Z:-1.14 [[ 9.99434481e-01 3.14604065e-02 1.18726807e-02 5.26330387e+01] [-3.14583415e-02 9.99504999e-01 -3.60689894e-04 1.34147954e+00] [-1.18781512e-02 -1.30089276e-05 9.99929452e-01 -1.13687220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16439141799999 meters 0.016449258436710922 Centerline is valid? [True, True] Translation: X:52.69, Y:1.33, Z:-1.14 [[ 9.99528382e-01 2.80102661e-02 1.25872268e-02 5.26931409e+01] [-2.80076888e-02 9.99607635e-01 -3.81019294e-04 1.33397558e+00] [-1.25929605e-02 2.83004671e-05 9.99920705e-01 -1.13550202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22439141799999 meters 0.014577819169701467 Centerline is valid? [True, True] Translation: X:52.75, Y:1.33, Z:-1.13 [[ 9.99621942e-01 2.30940347e-02 1.49210983e-02 5.27533303e+01] [-2.30898652e-02 9.99733291e-01 -4.51666315e-04 1.32785646e+00] [-1.49275495e-02 1.06969409e-04 9.99888572e-01 -1.13195286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28439141799999 meters 0.01736360200444103 Centerline is valid? [True, True] Translation: X:52.81, Y:1.32, Z:-1.14 [[ 9.99674509e-01 2.15587585e-02 1.36417314e-02 5.28146519e+01] [-2.15551476e-02 9.99767576e-01 -4.11684139e-04 1.32276138e+00] [-1.36474361e-02 1.17500606e-04 9.99906863e-01 -1.13647217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34439141799999 meters 0.017053514122764877 Centerline is valid? [True, True] Translation: X:52.88, Y:1.32, Z:-1.14 [[ 9.99688373e-01 2.14137150e-02 1.28300407e-02 5.28764099e+01] [-2.14105025e-02 9.99770694e-01 -3.87707567e-04 1.32012263e+00] [-1.28354010e-02 1.12889127e-04 9.99917616e-01 -1.13771003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40439141799999 meters 0.016751899597470605 Centerline is valid? [True, True] Translation: X:52.94, Y:1.32, Z:-1.14 [[ 9.99642970e-01 2.33527700e-02 1.29838645e-02 5.29374701e+01] [-2.33495925e-02 9.99727283e-01 -3.96285735e-04 1.31856163e+00] [-1.29895779e-02 9.29763044e-05 9.99915628e-01 -1.13940599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46439141799999 meters 0.016168575565031932 Centerline is valid? [True, True] Translation: X:53.00, Y:1.32, Z:-1.14 [[ 9.99512040e-01 2.84539559e-02 1.28862149e-02 5.29992834e+01] [-2.84511823e-02 9.99595104e-01 -3.98542104e-04 1.32168107e+00] [-1.28923374e-02 3.17195807e-05 9.99916890e-01 -1.13971780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524391417999986 meters 0.015565337450365611 Centerline is valid? [True, True] Translation: X:53.06, Y:1.32, Z:-1.14 [[ 9.99428136e-01 3.13473413e-02 1.26785396e-02 5.30592665e+01] [-3.13448760e-02 9.99508551e-01 -3.93158827e-04 1.32195869e+00] [-1.26846332e-02 -4.47325656e-06 9.99919547e-01 -1.14174924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58439141799999 meters 0.014859171028692398 Centerline is valid? [True, True] Translation: X:53.12, Y:1.32, Z:-1.15 [[ 9.99384721e-01 3.33027487e-02 1.10048637e-02 5.31190110e+01] [-3.33010091e-02 9.99445309e-01 -3.41331010e-04 1.32143792e+00] [-1.10101266e-02 -2.53520689e-05 9.99939386e-01 -1.14605462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64439141799999 meters 0.017723941967003456 Centerline is valid? [True, True] Translation: X:53.18, Y:1.32, Z:-1.15 [[ 9.99345511e-01 3.49799533e-02 9.21693013e-03 5.31787281e+01] [-3.49788062e-02 9.99388013e-01 -2.85675383e-04 1.32040247e+00] [-9.22128241e-03 -3.69088011e-05 9.99957482e-01 -1.14906910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704391417999986 meters 0.0163070007321393 Centerline is valid? [True, True] Translation: X:53.24, Y:1.32, Z:-1.15 [[ 9.99319950e-01 3.55139034e-02 9.91971453e-03 5.32379859e+01] [-3.55126003e-02 9.99369181e-01 -3.07527156e-04 1.31876753e+00] [-9.92437848e-03 -4.49568352e-05 9.99950751e-01 -1.14820105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76439141799999 meters 0.015649093758793663 Centerline is valid? [True, True] Translation: X:53.30, Y:1.32, Z:-1.15 [[ 9.99317661e-01 3.52138825e-02 1.11442684e-02 5.32953276e+01] [-3.52122305e-02 9.99379798e-01 -3.44481345e-04 1.31684321e+00] [-1.11494872e-02 -4.81682553e-05 9.99937841e-01 -1.14765405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82439141799999 meters 0.016702995338767995 Centerline is valid? [True, True] Translation: X:53.35, Y:1.31, Z:-1.15 [[ 9.99369879e-01 3.37124462e-02 1.11047435e-02 5.33545452e+01] [-3.37107316e-02 9.99431573e-01 -3.41598611e-04 1.31288471e+00] [-1.11099474e-02 -3.29656643e-05 9.99938282e-01 -1.14871853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884391417999986 meters 0.01426991546558612 Centerline is valid? [True, True] Translation: X:53.41, Y:1.31, Z:-1.15 [[ 9.99505399e-01 2.89879008e-02 1.21925741e-02 5.34140170e+01] [-2.89854992e-02 9.99579762e-01 -3.73677020e-04 1.30517999e+00] [-1.21982824e-02 2.00843521e-05 9.99925598e-01 -1.14814287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94439141799999 meters 0.014664006281179066 Centerline is valid? [True, True] Translation: X:53.47, Y:1.30, Z:-1.15 [[ 9.99613790e-01 2.50338662e-02 1.20655041e-02 5.34738511e+01] [-2.50312319e-02 9.99686601e-01 -3.69315611e-04 1.29811693e+00] [-1.20709682e-02 6.71585471e-05 9.99927141e-01 -1.14920627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00439141799999 meters 0.01564894699849588 Centerline is valid? [True, True] Translation: X:53.53, Y:1.29, Z:-1.15 [[ 9.99745483e-01 1.82174032e-02 1.33077131e-02 5.35341630e+01] [-1.82135972e-02 9.99834036e-01 -4.07150626e-04 1.28987915e+00] [-1.33129217e-02 1.64665674e-04 9.99911366e-01 -1.14822236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06439141799999 meters 0.01737757615718035 Centerline is valid? [True, True] Translation: X:53.60, Y:1.28, Z:-1.15 [[ 9.99842281e-01 1.28211600e-02 1.22894280e-02 5.35958449e+01] [-1.28175107e-02 9.99917782e-01 -3.75671853e-04 1.28197041e+00] [-1.22932341e-02 2.18092728e-04 9.99924412e-01 -1.15019841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12439141799999 meters 0.02029422039029676 Centerline is valid? [True, True] Translation: X:53.66, Y:1.28, Z:-1.15 [[ 9.99867584e-01 1.18053041e-02 1.12003739e-02 5.36574885e+01] [-1.18022099e-02 9.99930293e-01 -3.42318708e-04 1.27603800e+00] [-1.12036343e-02 2.10084216e-04 9.99937215e-01 -1.15418704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18439141799999 meters 0.021842073757702717 Centerline is valid? [True, True] Translation: X:53.72, Y:1.27, Z:-1.16 [[ 9.99860056e-01 1.35439103e-02 9.81987763e-03 5.37209254e+01] [-1.35416275e-02 9.99908263e-01 -2.98916713e-04 1.27296556e+00] [-9.82302529e-03 1.65897756e-04 9.99951739e-01 -1.15744959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24439141799999 meters 0.017950569335741903 Centerline is valid? [True, True] Translation: X:53.78, Y:1.27, Z:-1.16 [[ 9.99800949e-01 1.61978859e-02 1.16486374e-02 5.37837668e+01] [-1.61947637e-02 9.99868791e-01 -3.62312500e-04 1.27428495e+00] [-1.16529777e-02 1.73593451e-04 9.99932087e-01 -1.15566925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30439141799999 meters 0.01952502828386651 Centerline is valid? [True, True] Translation: X:53.85, Y:1.28, Z:-1.16 [[ 9.99673101e-01 2.31145029e-02 1.09275624e-02 5.38450376e+01] [-2.31121771e-02 9.99732820e-01 -3.39097309e-04 1.27820403e+00] [-1.09324809e-02 8.64267008e-05 9.99940235e-01 -1.15884342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36439141799999 meters 0.01649576074952289 Centerline is valid? [True, True] Translation: X:53.91, Y:1.28, Z:-1.16 [[ 9.99630661e-01 2.49536474e-02 1.07636491e-02 5.39066291e+01] [-2.49514401e-02 9.99688607e-01 -3.39327453e-04 1.27897269e+00] [-1.07687648e-02 7.06335803e-05 9.99942013e-01 -1.16084721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42439141799999 meters 0.014793170957137412 Centerline is valid? [True, True] Translation: X:53.97, Y:1.28, Z:-1.16 [[ 9.99600970e-01 2.62042375e-02 1.05470185e-02 5.39674872e+01] [-2.62021786e-02 9.99656608e-01 -3.33373381e-04 1.27863389e+00] [-1.05521326e-02 5.68854922e-05 9.99944323e-01 -1.16231047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48439141799999 meters 0.01836020065902542 Centerline is valid? [True, True] Translation: X:54.03, Y:1.28, Z:-1.17 [[ 9.99571439e-01 2.75289826e-02 9.95453387e-03 5.40280555e+01] [-2.75272142e-02 9.99621005e-01 -3.14645945e-04 1.27727942e+00] [-9.95942303e-03 4.04905143e-05 9.99950403e-01 -1.16503826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54439141799999 meters 0.01466143737113381 Centerline is valid? [True, True] Translation: X:54.09, Y:1.28, Z:-1.16 [[ 9.99566213e-01 2.67525484e-02 1.23160871e-02 5.40878305e+01] [-2.67497775e-02 9.99642085e-01 -3.89689804e-04 1.27589192e+00] [-1.23221041e-02 6.00681734e-05 9.99924078e-01 -1.16293164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60439141799999 meters 0.016367209712637987 Centerline is valid? [True, True] Translation: X:54.15, Y:1.27, Z:-1.16 [[ 9.99588182e-01 2.59866513e-02 1.21721403e-02 5.41484724e+01] [-2.59838989e-02 9.99662288e-01 -3.84240974e-04 1.27313807e+00] [-1.21780147e-02 6.78030741e-05 9.99925843e-01 -1.16456030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66439141799999 meters 0.015494085596500983 Centerline is valid? [True, True] Translation: X:54.21, Y:1.27, Z:-1.17 [[ 9.99650717e-01 2.35406863e-02 1.20116765e-02 5.42087636e+01] [-2.35378318e-02 9.99722875e-01 -3.78977450e-04 1.26879716e+00] [-1.20172692e-02 9.61162584e-05 9.99927785e-01 -1.16578432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72439141799999 meters 0.019608799158339355 Centerline is valid? [True, True] Translation: X:54.27, Y:1.26, Z:-1.17 [[ 9.99680320e-01 2.22272593e-02 1.20501990e-02 5.42697412e+01] [-2.22242909e-02 9.99752938e-01 -3.80209548e-04 1.26476541e+00] [-1.20556729e-02 1.12280874e-04 9.99927321e-01 -1.16735597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78439141799999 meters 0.016291243671839664 Centerline is valid? [True, True] Translation: X:54.33, Y:1.26, Z:-1.17 [[ 9.99694910e-01 2.01084565e-02 1.43435143e-02 5.43311419e+01] [-2.01040213e-02 9.99797791e-01 -4.53347512e-04 1.26180161e+00] [-1.43497301e-02 1.64846882e-04 9.99897024e-01 -1.16552686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84439141799999 meters 0.016296534847495093 Centerline is valid? [True, True] Translation: X:54.39, Y:1.26, Z:-1.17 [[ 9.99707333e-01 1.90665362e-02 1.48900955e-02 5.43943672e+01] [-1.90616632e-02 9.99818200e-01 -4.69130014e-04 1.25885143e+00] [-1.48963332e-02 1.85162729e-04 9.99889026e-01 -1.16612585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90439141799999 meters 0.01810543135529393 Centerline is valid? [True, True] Translation: X:54.46, Y:1.25, Z:-1.17 [[ 9.99710501e-01 1.95495433e-02 1.40260041e-02 5.44566354e+01] [-1.95452025e-02 9.99808875e-01 -4.46504971e-04 1.25490141e+00] [-1.40320524e-02 1.72234617e-04 9.99901531e-01 -1.16966674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96439141799999 meters 0.015867452399362124 Centerline is valid? [True, True] Translation: X:54.52, Y:1.26, Z:-1.17 [[ 9.99675510e-01 2.14477852e-02 1.37429044e-02 5.45188247e+01] [-2.14437372e-02 9.99769959e-01 -4.41852705e-04 1.25614352e+00] [-1.37492197e-02 1.47010098e-04 9.99905464e-01 -1.17008981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024391417999986 meters 0.01732307436408013 Centerline is valid? [True, True] Translation: X:54.58, Y:1.26, Z:-1.17 [[ 9.99575878e-01 2.53723457e-02 1.42936311e-02 5.45810411e+01] [-2.53683045e-02 9.99678065e-01 -4.63997737e-04 1.25858894e+00] [-1.43008022e-02 1.01195760e-04 9.99897733e-01 -1.17088653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08439141799999 meters 0.01535628607648625 Centerline is valid? [True, True] Translation: X:54.64, Y:1.26, Z:-1.17 [[ 9.99488872e-01 2.84897645e-02 1.45026831e-02 5.46427591e+01] [-2.84858620e-02 9.99594082e-01 -4.75632124e-04 1.26009491e+00] [-1.45103469e-02 6.22675846e-05 9.99894717e-01 -1.17148959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14439141799999 meters 0.013832221433184593 Centerline is valid? [True, True] Translation: X:54.70, Y:1.26, Z:-1.17 [[ 9.99397489e-01 3.19259540e-02 1.36159080e-02 5.47046970e+01] [-3.19227577e-02 9.99490237e-01 -4.52076599e-04 1.26338185e+00] [-1.36234001e-02 1.71468854e-05 9.99907197e-01 -1.17319291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204391417999986 meters 0.013999561105849908 Centerline is valid? [True, True] Translation: X:54.76, Y:1.26, Z:-1.17 [[ 9.99337668e-01 3.37485779e-02 1.36109679e-02 5.47644519e+01] [-3.37455347e-02 9.99430354e-01 -4.53249783e-04 1.26379497e+00] [-1.36185110e-02 -6.35980869e-06 9.99907264e-01 -1.17463460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26439141799999 meters 0.014043949990201154 Centerline is valid? [True, True] Translation: X:54.82, Y:1.27, Z:-1.18 [[ 9.99280669e-01 3.53092425e-02 1.38348122e-02 5.48228226e+01] [-3.53062563e-02 9.99376434e-01 -4.60101479e-04 1.26511749e+00] [-1.38424311e-02 -2.86849096e-05 9.99904189e-01 -1.17552529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32439141799999 meters 0.015497983995901006 Centerline is valid? [True, True] Translation: X:54.88, Y:1.26, Z:-1.18 [[ 9.99313369e-01 3.43233965e-02 1.39533183e-02 5.48822111e+01] [-3.43202746e-02 9.99410779e-01 -4.63196306e-04 1.26079166e+00] [-1.39609952e-02 -1.60034560e-05 9.99902540e-01 -1.17834393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384391417999986 meters 0.014006761543458255 Centerline is valid? [True, True] Translation: X:54.94, Y:1.26, Z:-1.18 [[ 9.99388495e-01 3.13936628e-02 1.53972225e-02 5.49423996e+01] [-3.13895214e-02 9.99507097e-01 -5.10626981e-04 1.25579348e+00] [-1.54056636e-02 2.70032847e-05 9.99881325e-01 -1.17805072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44439141799999 meters 0.014362293485083421 Centerline is valid? [True, True] Translation: X:55.00, Y:1.25, Z:-1.18 [[ 9.99483241e-01 2.79573609e-02 1.58630867e-02 5.50032420e+01] [-2.79525362e-02 9.99609113e-01 -5.25827824e-04 1.25000715e+00] [-1.58715868e-02 8.21425918e-05 9.99874035e-01 -1.17900703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50439141799999 meters 0.015979936573389815 Centerline is valid? [True, True] Translation: X:55.07, Y:1.24, Z:-1.18 [[ 9.99625065e-01 2.23990639e-02 1.57483913e-02 5.50656333e+01] [-2.23936346e-02 9.99749095e-01 -5.21033080e-04 1.24201267e+00] [-1.57561106e-02 1.68174007e-04 9.99875851e-01 -1.18015774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564391417999985 meters 0.018363105488615215 Centerline is valid? [True, True] Translation: X:55.13, Y:1.24, Z:-1.18 [[ 9.99694099e-01 1.86153039e-02 1.62842894e-02 5.51277170e+01] [-1.86089125e-02 9.99826691e-01 -5.43936175e-04 1.23628184e+00] [-1.62915927e-02 2.40736868e-04 9.99867254e-01 -1.18134768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62439141799999 meters 0.020333763155506925 Centerline is valid? [True, True] Translation: X:55.19, Y:1.23, Z:-1.18 [[ 9.99732983e-01 1.58734211e-02 1.67927951e-02 5.51896370e+01] [-1.58661560e-02 9.99873965e-01 -5.65780530e-04 1.22928651e+00] [-1.67996595e-02 2.99192350e-04 9.99858831e-01 -1.18266314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68439141799999 meters 0.019872339415466046 Centerline is valid? [True, True] Translation: X:55.25, Y:1.22, Z:-1.18 [[ 9.99795045e-01 1.05956996e-02 1.72510614e-02 5.52505258e+01] [-1.05871552e-02 9.99943782e-01 -5.86553811e-04 1.22430877e+00] [-1.72563066e-02 4.03793929e-04 9.99851017e-01 -1.18289115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74439141799999 meters 0.021991809568021277 Centerline is valid? [True, True] Translation: X:55.31, Y:1.22, Z:-1.18 [[ 9.99795413e-01 8.88851012e-03 1.81693670e-02 5.53125881e+01] [-8.87865427e-03 9.99960390e-01 -6.23039356e-04 1.21912754e+00] [-1.81741852e-02 4.61592362e-04 9.99834729e-01 -1.18491698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80439141799999 meters 0.020618396827704555 Centerline is valid? [True, True] Translation: X:55.38, Y:1.22, Z:-1.18 [[ 9.99815948e-01 7.36485686e-03 1.77152478e-02 5.53750145e+01] [-7.35516602e-03 9.99972763e-01 -6.12127255e-04 1.21921399e+00] [-1.77192735e-02 4.81716003e-04 9.99842885e-01 -1.18487935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86439141799999 meters 0.020723950615748006 Centerline is valid? [True, True] Translation: X:55.44, Y:1.22, Z:-1.19 [[ 9.99823292e-01 8.93593116e-03 1.65388379e-02 5.54358520e+01] [-8.92762684e-03 9.99959982e-01 -5.75874914e-04 1.21898740e+00] [-1.65433220e-02 4.28120579e-04 9.99863058e-01 -1.18763905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92439141799999 meters 0.01809426774700142 Centerline is valid? [True, True] Translation: X:55.50, Y:1.22, Z:-1.19 [[ 9.99765150e-01 1.41737807e-02 1.63935770e-02 5.54980916e+01] [-1.41662387e-02 9.99899488e-01 -5.76101213e-04 1.22495056e+00] [-1.64000947e-02 3.43730591e-04 9.99865450e-01 -1.18861891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98439141799999 meters 0.018068518458210243 Centerline is valid? [True, True] Translation: X:55.56, Y:1.23, Z:-1.19 [[ 9.99679874e-01 1.91841103e-02 1.64960557e-02 5.55603588e+01] [-1.91771429e-02 9.99815933e-01 -5.80459073e-04 1.22635490e+00] [-1.65041549e-02 2.63926035e-04 9.99863762e-01 -1.19073410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04439141799999 meters 0.014762086750720478 Centerline is valid? [True, True] Translation: X:55.62, Y:1.24, Z:-1.19 [[ 9.99476625e-01 2.75635460e-02 1.69330190e-02 5.56227135e+01] [-2.75573920e-02 9.99620045e-01 -5.96703439e-04 1.23547371e+00] [-1.69430325e-02 1.29761296e-04 9.99856448e-01 -1.19154785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10439141799999 meters 0.014242340571444391 Centerline is valid? [True, True] Translation: X:55.68, Y:1.24, Z:-1.19 [[ 9.99303136e-01 3.30165782e-02 1.74111703e-02 5.56837530e+01] [-3.30108013e-02 9.99454803e-01 -6.19168783e-04 1.23941529e+00] [-1.74221206e-02 4.39806246e-05 9.99848222e-01 -1.19318208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16439141799999 meters 0.017055077178485138 Centerline is valid? [True, True] Translation: X:55.74, Y:1.25, Z:-1.20 [[ 9.99085366e-01 4.00574473e-02 1.49610438e-02 5.57437392e+01] [-4.00538920e-02 9.99197376e-01 -5.37322248e-04 1.24565062e+00] [-1.49705594e-02 -6.24172366e-05 9.99887933e-01 -1.19815638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22439141799999 meters 0.014743032617627718 Centerline is valid? [True, True] Translation: X:55.80, Y:1.25, Z:-1.20 [[ 9.99008029e-01 4.18786710e-02 1.51372315e-02 5.58023236e+01] [-4.18752313e-02 9.99122700e-01 -5.44259846e-04 1.24670599e+00] [-1.51467445e-02 -9.01551149e-05 9.99885277e-01 -1.19792129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28439141799999 meters 0.01599076896339338 Centerline is valid? [True, True] Translation: X:55.86, Y:1.25, Z:-1.20 [[ 9.98930213e-01 4.36451464e-02 1.52816966e-02 5.58611552e+01] [-4.36418685e-02 9.99047089e-01 -5.48072443e-04 1.24605285e+00] [-1.52910552e-02 -1.19435671e-04 9.99883078e-01 -1.19891937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34439141799999 meters 0.015480513760118667 Centerline is valid? [True, True] Translation: X:55.92, Y:1.24, Z:-1.20 [[ 9.98904294e-01 4.41578621e-02 1.55014387e-02 5.59202732e+01] [-4.41545766e-02 9.99024557e-01 -5.54300061e-04 1.24347651e+00] [-1.55107946e-02 -1.30766751e-04 9.99879692e-01 -1.20012371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40439141799999 meters 0.0162227836694549 Centerline is valid? [True, True] Translation: X:55.98, Y:1.24, Z:-1.20 [[ 9.98939099e-01 4.34311505e-02 1.53105314e-02 5.59796080e+01] [-4.34278700e-02 9.99056415e-01 -5.46829910e-04 1.23992351e+00] [-1.53198341e-02 -1.18653990e-04 9.99882637e-01 -1.20086170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46439141799999 meters 0.014820250309157169 Centerline is valid? [True, True] Translation: X:56.04, Y:1.23, Z:-1.20 [[ 9.99056174e-01 4.02441294e-02 1.63453932e-02 5.60378163e+01] [-4.02399748e-02 9.99189874e-01 -5.83117091e-04 1.23428019e+00] [-1.63556184e-02 -7.51714791e-05 9.99866235e-01 -1.20217241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524391417999986 meters 0.014235465356446795 Centerline is valid? [True, True] Translation: X:56.10, Y:1.22, Z:-1.20 [[ 9.99244254e-01 3.55082067e-02 1.58141956e-02 5.60984720e+01] [-3.55037466e-02 9.99369385e-01 -5.62782566e-04 1.22445751e+00] [-1.58242063e-02 8.94052012e-07 9.99874789e-01 -1.20280585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58439141799999 meters 0.015402247970617977 Centerline is valid? [True, True] Translation: X:56.16, Y:1.21, Z:-1.20 [[ 9.99523203e-01 2.62605127e-02 1.62404722e-02 5.61582052e+01] [-2.62545898e-02 9.99655122e-01 -5.77836883e-04 1.21258378e+00] [-1.62500455e-02 1.51174436e-04 9.99867948e-01 -1.20401942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64439141799999 meters 0.01878033661277519 Centerline is valid? [True, True] Translation: X:56.22, Y:1.20, Z:-1.21 [[ 9.99671691e-01 2.05051194e-02 1.53639062e-02 5.62204424e+01] [-2.04991609e-02 9.99789721e-01 -5.45223177e-04 1.20437392e+00] [-1.53718554e-02 2.30096990e-04 9.99881820e-01 -1.20566178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704391417999986 meters 0.020238452765928765 Centerline is valid? [True, True] Translation: X:56.28, Y:1.19, Z:-1.21 [[ 9.99789727e-01 1.22392992e-02 1.64530334e-02 5.62815988e+01] [-1.22312435e-02 9.99925021e-01 -5.90161752e-04 1.19146836e+00] [-1.64590229e-02 3.88796599e-04 9.99864466e-01 -1.20713958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76439141799999 meters 0.021408919003994307 Centerline is valid? [True, True] Translation: X:56.34, Y:1.18, Z:-1.21 [[ 9.99814277e-01 8.53802527e-03 1.72775503e-02 5.63422818e+01] [-8.52859466e-03 9.99963439e-01 -6.19440159e-04 1.18345010e+00] [-1.72822074e-02 4.71971892e-04 9.99850540e-01 -1.20795239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82439141799999 meters 0.022481148200563336 Centerline is valid? [True, True] Translation: X:56.40, Y:1.18, Z:-1.21 [[ 9.99837326e-01 6.21600680e-03 1.69317232e-02 5.64043149e+01] [-6.20654698e-03 9.99980552e-01 -6.11194387e-04 1.18017928e+00] [-1.69351931e-02 5.06007426e-04 9.99856461e-01 -1.20888475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884391417999986 meters 0.022731220252682115 Centerline is valid? [True, True] Translation: X:56.47, Y:1.18, Z:-1.21 [[ 9.99843524e-01 6.74611948e-03 1.63529114e-02 5.64673756e+01] [-6.73729876e-03 9.99977127e-01 -5.94428537e-04 1.17716844e+00] [-1.63565475e-02 4.84161073e-04 9.99866106e-01 -1.21137250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94439141799999 meters 0.022334912895659753 Centerline is valid? [True, True] Translation: X:56.53, Y:1.18, Z:-1.21 [[ 9.99840093e-01 8.85103022e-03 1.55385673e-02 5.65299344e+01] [-8.84324489e-03 9.99960735e-01 -5.69672233e-04 1.17615962e+00] [-1.55429993e-02 4.32169783e-04 9.99879107e-01 -1.21282911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00439141799999 meters 0.02102079379949882 Centerline is valid? [True, True] Translation: X:56.59, Y:1.18, Z:-1.21 [[ 9.99820570e-01 1.08749522e-02 1.55101284e-02 5.65926113e+01] [-1.08673741e-02 9.99940784e-01 -5.72791504e-04 1.17830001e+00] [-1.55154390e-02 4.04134361e-04 9.99879547e-01 -1.21362119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064391417999985 meters 0.019519424205181688 Centerline is valid? [True, True] Translation: X:56.65, Y:1.18, Z:-1.21 [[ 9.99750436e-01 1.53216462e-02 1.62576749e-02 5.66538478e+01] [-1.53138080e-02 9.99882553e-01 -6.06515667e-04 1.18307122e+00] [-1.62650583e-02 3.57397392e-04 9.99867651e-01 -1.21375768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12439141799999 meters 0.018021780441544597 Centerline is valid? [True, True] Translation: X:56.72, Y:1.18, Z:-1.21 [[ 9.99726580e-01 1.67321662e-02 1.63340243e-02 5.67162491e+01] [-1.67244538e-02 9.99859951e-01 -6.08658873e-04 1.18252638e+00] [-1.63419209e-02 3.35314818e-04 9.99866406e-01 -1.21414087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18439141799999 meters 0.017564284516569197 Centerline is valid? [True, True] Translation: X:56.78, Y:1.19, Z:-1.22 [[ 9.99669520e-01 2.10472032e-02 1.47603105e-02 5.67788601e+01] [-2.10413227e-02 9.99778454e-01 -5.53604992e-04 1.18611044e+00] [-1.47686922e-02 2.42845580e-04 9.99890907e-01 -1.21673448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244391417999985 meters 0.017298981804868694 Centerline is valid? [True, True] Translation: X:56.84, Y:1.19, Z:-1.22 [[ 9.99644094e-01 2.28097464e-02 1.38347600e-02 5.68407736e+01] [-2.28047008e-02 9.99739803e-01 -5.22365662e-04 1.18612091e+00] [-1.38430753e-02 2.06682186e-04 9.99904159e-01 -1.21937491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30439141799999 meters 0.016558277971515906 Centerline is valid? [True, True] Translation: X:56.90, Y:1.18, Z:-1.22 [[ 9.99630391e-01 2.28004764e-02 1.48060847e-02 5.69029617e+01] [-2.27946311e-02 9.99740010e-01 -5.63451192e-04 1.18469923e+00] [-1.48150822e-02 2.25743697e-04 9.99890225e-01 -1.21932628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36439141799999 meters 0.017167554201344942 Centerline is valid? [True, True] Translation: X:56.97, Y:1.18, Z:-1.22 [[ 9.99654018e-01 2.16567825e-02 1.49274057e-02 5.69654098e+01] [-2.16506499e-02 9.99765433e-01 -5.72327646e-04 1.18354387e+00] [-1.49362990e-02 2.48941597e-04 9.99888416e-01 -1.22014585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42439141799999 meters 0.018052680522840973 Centerline is valid? [True, True] Translation: X:57.03, Y:1.18, Z:-1.22 [[ 9.99685628e-01 2.02578997e-02 1.47737049e-02 5.70278444e+01] [-2.02516797e-02 9.99794751e-01 -5.70518568e-04 1.17969399e+00] [-1.47822301e-02 2.71146874e-04 9.99890700e-01 -1.22257697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48439141799999 meters 0.017901018533386586 Centerline is valid? [True, True] Translation: X:57.09, Y:1.18, Z:-1.22 [[ 9.99657542e-01 2.11458900e-02 1.54158875e-02 5.70900159e+01] [-2.11391539e-02 9.99776363e-01 -5.99796075e-04 1.17661540e+00] [-1.54251231e-02 2.73711853e-04 9.99880988e-01 -1.22417160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54439141799999 meters 0.017210994207243823 Centerline is valid? [True, True] Translation: X:57.15, Y:1.18, Z:-1.23 [[ 9.99589841e-01 2.43321329e-02 1.51028666e-02 5.71516549e+01] [-2.43259681e-02 9.99703905e-01 -5.91784688e-04 1.17603199e+00] [-1.51127941e-02 2.24150111e-04 9.99885770e-01 -1.22554756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60439141799999 meters 0.015511318636422786 Centerline is valid? [True, True] Translation: X:57.21, Y:1.18, Z:-1.23 [[ 9.99395130e-01 3.11121621e-02 1.55372669e-02 5.72135100e+01] [-3.11063751e-02 9.99515891e-01 -6.14044766e-04 1.17966451e+00] [-1.55488494e-02 1.30365297e-04 9.99879101e-01 -1.22613375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66439141799999 meters 0.014727082591371444 Centerline is valid? [True, True] Translation: X:57.27, Y:1.18, Z:-1.23 [[ 9.99227633e-01 3.58904393e-02 1.60004546e-02 5.72744174e+01] [-3.58848935e-02 9.99355729e-01 -6.33668425e-04 1.18161800e+00] [-1.60128886e-02 5.90043919e-05 9.99871784e-01 -1.22620074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72439141799999 meters 0.014613993709731812 Centerline is valid? [True, True] Translation: X:57.33, Y:1.18, Z:-1.23 [[ 9.99050124e-01 4.06022928e-02 1.58209918e-02 5.73344901e+01] [-4.05974500e-02 9.99175387e-01 -6.27281142e-04 1.18260829e+00] [-1.58334147e-02 -1.56066220e-05 9.99874644e-01 -1.22866515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78439141799999 meters 0.014683667368722286 Centerline is valid? [True, True] Translation: X:57.39, Y:1.18, Z:-1.23 [[ 9.99035963e-01 4.11443541e-02 1.53064478e-02 5.73927885e+01] [-4.11398920e-02 9.99153212e-01 -6.06411425e-04 1.18072049e+00] [-1.53184369e-02 -2.38787862e-05 9.99882666e-01 -1.23154725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84439141799999 meters 0.016853500448805722 Centerline is valid? [True, True] Translation: X:57.45, Y:1.17, Z:-1.24 [[ 9.99147023e-01 3.87876440e-02 1.41684579e-02 5.74513347e+01] [-3.87835951e-02 9.99247476e-01 -5.60527143e-04 1.17382866e+00] [-1.41795373e-02 1.05452925e-05 9.99899465e-01 -1.23587410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90439141799999 meters 0.017656440415777234 Centerline is valid? [True, True] Translation: X:57.51, Y:1.17, Z:-1.24 [[ 9.99275204e-01 3.51361812e-02 1.46463782e-02 5.75105587e+01] [-3.51314783e-02 9.99382532e-01 -5.78342154e-04 1.16619917e+00] [-1.46576553e-02 6.33740564e-05 9.99892569e-01 -1.23691176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96439141799999 meters 0.018196964802712445 Centerline is valid? [True, True] Translation: X:57.57, Y:1.16, Z:-1.24 [[ 9.99504983e-01 2.76303212e-02 1.50450746e-02 5.75704599e+01] [-2.76245218e-02 9.99618194e-01 -5.93189447e-04 1.15856580e+00] [-1.50557203e-02 1.77282818e-04 9.99886641e-01 -1.23540378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024391417999986 meters 0.01759498903912384 Centerline is valid? [True, True] Translation: X:57.63, Y:1.15, Z:-1.24 [[ 9.99647192e-01 2.15306205e-02 1.55539257e-02 5.76323992e+01] [-2.15236919e-02 9.99768151e-01 -6.12736728e-04 1.15096085e+00] [-1.55635121e-02 2.77742646e-04 9.99878843e-01 -1.23536298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08439141799999 meters 0.021757723644699318 Centerline is valid? [True, True] Translation: X:57.69, Y:1.14, Z:-1.24 [[ 9.99763862e-01 1.41966771e-02 1.64521997e-02 5.76928528e+01] [-1.41879037e-02 9.99899135e-01 -6.49868719e-04 1.13954304e+00] [-1.64597663e-02 4.16293035e-04 9.99864442e-01 -1.23772843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14439141799999 meters 0.02348100307468785 Centerline is valid? [True, True] Translation: X:57.76, Y:1.14, Z:-1.24 [[ 9.99802726e-01 1.09651527e-02 1.65612106e-02 5.77551094e+01] [-1.09558197e-02 9.99939769e-01 -6.54166681e-04 1.13593594e+00] [-1.65673862e-02 4.72595993e-04 9.99862640e-01 -1.23907994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204391417999986 meters 0.023317284560277894 Centerline is valid? [True, True] Translation: X:57.82, Y:1.13, Z:-1.24 [[ 9.99833478e-01 7.74923005e-03 1.65216680e-02 5.78173571e+01] [-7.73948098e-03 9.99969836e-01 -6.53935594e-04 1.13175728e+00] [-1.65262372e-02 5.25957564e-04 9.99863294e-01 -1.23929287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26439141799999 meters 0.02433433752161187 Centerline is valid? [True, True] Translation: X:57.88, Y:1.13, Z:-1.24 [[ 9.99841969e-01 8.10060051e-03 1.58245980e-02 5.78805378e+01] [-8.09170551e-03 9.99967066e-01 -6.26048362e-04 1.12995129e+00] [-1.58291482e-02 4.97901440e-04 9.99874587e-01 -1.24152027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32439141799999 meters 0.023346796258883834 Centerline is valid? [True, True] Translation: X:57.94, Y:1.13, Z:-1.24 [[ 9.99840978e-01 8.13187435e-03 1.58710929e-02 5.79433919e+01] [-8.12285003e-03 9.99966809e-01 -6.32982509e-04 1.13002703e+00] [-1.58757135e-02 5.03963343e-04 9.99873846e-01 -1.24212266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384391417999986 meters 0.023902537491882304 Centerline is valid? [True, True] Translation: X:58.00, Y:1.13, Z:-1.24 [[ 9.99827965e-01 8.46437521e-03 1.65043585e-02 5.80049036e+01] [-8.45455375e-03 9.99964039e-01 -6.64766651e-04 1.12722414e+00] [-1.65093918e-02 5.25115302e-04 9.99863573e-01 -1.24324503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44439141799999 meters 0.023201057003943402 Centerline is valid? [True, True] Translation: X:58.07, Y:1.13, Z:-1.24 [[ 9.99805428e-01 1.05003612e-02 1.66987633e-02 5.80675434e+01] [-1.04905569e-02 9.99944745e-01 -6.74613527e-04 1.12887544e+00] [-1.67049243e-02 4.99302939e-04 9.99860338e-01 -1.24477317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50439141799999 meters 0.023000659366834694 Centerline is valid? [True, True] Translation: X:58.13, Y:1.13, Z:-1.25 [[ 9.99801708e-01 1.19061571e-02 1.59620686e-02 5.81300907e+01] [-1.18973121e-02 9.99929014e-01 -6.48976218e-04 1.12996796e+00] [-1.59686624e-02 4.58941819e-04 9.99872387e-01 -1.24601424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564391417999985 meters 0.023476623406500054 Centerline is valid? [True, True] Translation: X:58.19, Y:1.13, Z:-1.25 [[ 9.99783147e-01 1.38019860e-02 1.55937228e-02 5.81915316e+01] [-1.37937085e-02 9.99904659e-01 -6.38253993e-04 1.13197484e+00] [-1.56010453e-02 4.23020318e-04 9.99878207e-01 -1.24796379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62439141799999 meters 0.021033080010978686 Centerline is valid? [True, True] Translation: X:58.25, Y:1.14, Z:-1.25 [[ 9.99795818e-01 1.27510967e-02 1.56758604e-02 5.82539771e+01] [-1.27425453e-02 9.99918602e-01 -6.45276898e-04 1.13654755e+00] [-1.56828124e-02 4.45394781e-04 9.99876918e-01 -1.24766234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68439141799999 meters 0.02127958379207483 Centerline is valid? [True, True] Translation: X:58.32, Y:1.14, Z:-1.25 [[ 9.99780391e-01 1.26539620e-02 1.67046849e-02 5.83175494e+01] [-1.26441537e-02 9.99919820e-01 -6.92644601e-04 1.13614514e+00] [-1.67121102e-02 4.81275886e-04 9.99860227e-01 -1.24803861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744391417999985 meters 0.02392629301097633 Centerline is valid? [True, True] Translation: X:58.38, Y:1.14, Z:-1.25 [[ 9.99788484e-01 1.27875888e-02 1.61079111e-02 5.83802140e+01] [-1.27784046e-02 9.99918126e-01 -6.72966483e-04 1.13512784e+00] [-1.61151979e-02 4.66990735e-04 9.99870033e-01 -1.25158582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80439141799999 meters 0.023720980592478767 Centerline is valid? [True, True] Translation: X:58.44, Y:1.13, Z:-1.25 [[ 9.99824799e-01 1.13152383e-02 1.49109461e-02 5.84420915e+01] [-1.13071361e-02 9.99935875e-01 -6.27568018e-04 1.13341368e+00] [-1.49170911e-02 4.58857971e-04 9.99888629e-01 -1.25411528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86439141799999 meters 0.02399529057204452 Centerline is valid? [True, True] Translation: X:58.50, Y:1.13, Z:-1.26 [[ 9.99869515e-01 8.39003480e-03 1.38043862e-02 5.85045790e+01] [-8.38274300e-03 9.99964692e-01 -5.86001629e-04 1.13460180e+00] [-1.38088153e-02 4.70206543e-04 9.99904543e-01 -1.25576168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924391417999985 meters 0.025303016270047225 Centerline is valid? [True, True] Translation: X:58.57, Y:1.13, Z:-1.26 [[ 9.99885220e-01 7.55211149e-03 1.31343789e-02 5.85663904e+01] [-7.54544654e-03 9.99971378e-01 -5.56924478e-04 1.13430156e+00] [-1.31382089e-02 4.57755801e-04 9.99913585e-01 -1.25778083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98439141799999 meters 0.025583501600631296 Centerline is valid? [True, True] Translation: X:58.63, Y:1.13, Z:-1.26 [[ 9.99860373e-01 7.60318696e-03 1.48803751e-02 5.86286686e+01] [-7.59457188e-03 9.99970959e-01 -6.35379166e-04 1.13486351e+00] [-1.48847738e-02 5.22280372e-04 9.99889079e-01 -1.25744220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04439141799999 meters 0.02658057672760551 Centerline is valid? [True, True] Translation: X:58.69, Y:1.14, Z:-1.26 [[ 9.99853100e-01 1.00464143e-02 1.38869506e-02 5.86906597e+01] [-1.00390921e-02 9.99949429e-01 -5.96885737e-04 1.13704241e+00] [-1.38922449e-02 4.57385679e-04 9.99903393e-01 -1.25969341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10439141799999 meters 0.02460825577007754 Centerline is valid? [True, True] Translation: X:58.75, Y:1.14, Z:-1.26 [[ 9.99822108e-01 1.25608052e-02 1.40704872e-02 5.87528105e+01] [-1.25534817e-02 9.99921017e-01 -6.08692713e-04 1.14252159e+00] [-1.40770216e-02 4.31950827e-04 9.99900821e-01 -1.25942396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16439141799999 meters 0.025357673033890093 Centerline is valid? [True, True] Translation: X:58.82, Y:1.14, Z:-1.26 [[ 9.99815361e-01 1.40826676e-02 1.30736949e-02 5.88151574e+01] [-1.40764346e-02 9.99900760e-01 -5.68660387e-04 1.14327752e+00] [-1.30804057e-02 3.84524379e-04 9.99914374e-01 -1.26218640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22439141799999 meters 0.02458396367916164 Centerline is valid? [True, True] Translation: X:58.88, Y:1.15, Z:-1.26 [[ 9.99847894e-01 1.22997587e-02 1.23654294e-02 5.88779314e+01] [-1.22940119e-02 9.99924280e-01 -5.40656394e-04 1.14529552e+00] [-1.23711431e-02 3.88553421e-04 9.99923399e-01 -1.26390578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28439141799999 meters 0.02476391121854457 Centerline is valid? [True, True] Translation: X:58.94, Y:1.15, Z:-1.26 [[ 9.99871727e-01 9.99412603e-03 1.25158540e-02 5.89402428e+01] [-9.98801253e-03 9.99949967e-01 -5.50873756e-04 1.14604937e+00] [-1.25207333e-02 4.25794588e-04 9.99921522e-01 -1.26413524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34439141799999 meters 0.025834530742954276 Centerline is valid? [True, True] Translation: X:59.00, Y:1.15, Z:-1.27 [[ 9.99860163e-01 1.09691183e-02 1.26226827e-02 5.90027665e+01] [-1.09629347e-02 9.99939749e-01 -5.58976927e-04 1.14557778e+00] [-1.26280537e-02 4.20517116e-04 9.99920175e-01 -1.26608933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40439141799999 meters 0.021409045765795876 Centerline is valid? [True, True] Translation: X:59.07, Y:1.15, Z:-1.27 [[ 9.99773713e-01 1.61629524e-02 1.38304556e-02 5.90651909e+01] [-1.61559401e-02 9.99869293e-01 -6.18597109e-04 1.15392557e+00] [-1.38386463e-02 3.95013115e-04 9.99904163e-01 -1.26591898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46439141799999 meters 0.019274335637288614 Centerline is valid? [True, True] Translation: X:59.13, Y:1.16, Z:-1.27 [[ 9.99617712e-01 2.38673048e-02 1.39564107e-02 5.91256314e+01] [-2.38608958e-02 9.99715093e-01 -6.25574300e-04 1.16229459e+00] [-1.39673652e-02 2.92322689e-04 9.99902409e-01 -1.26695042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524391417999986 meters 0.016697791534404142 Centerline is valid? [True, True] Translation: X:59.19, Y:1.17, Z:-1.27 [[ 9.99478404e-01 2.87479962e-02 1.47130350e-02 5.91864073e+01] [-2.87414020e-02 9.99586663e-01 -6.59488799e-04 1.16897012e+00] [-1.47259125e-02 2.36271560e-04 9.99891540e-01 -1.26766296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58439141799999 meters 0.014997511003719162 Centerline is valid? [True, True] Translation: X:59.25, Y:1.18, Z:-1.27 [[ 9.99276093e-01 3.48056633e-02 1.53576110e-02 5.92460542e+01] [-3.47991874e-02 9.99394088e-01 -6.88780557e-04 1.17639129e+00] [-1.53722791e-02 1.53849561e-04 9.99881828e-01 -1.26824143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64439141799999 meters 0.014261890025376311 Centerline is valid? [True, True] Translation: X:59.30, Y:1.18, Z:-1.27 [[ 9.99116771e-01 3.91300023e-02 1.53140409e-02 5.93044973e+01] [-3.91240811e-02 9.99234124e-01 -6.86169244e-04 1.18142318e+00] [-1.53291620e-02 8.64154230e-05 9.99882498e-01 -1.26905509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704391417999986 meters 0.013928522806402296 Centerline is valid? [True, True] Translation: X:59.36, Y:1.18, Z:-1.27 [[ 9.99053786e-01 4.06578815e-02 1.54424599e-02 5.93634624e+01] [-4.06520689e-02 9.99173125e-01 -6.90250007e-04 1.18242242e+00] [-1.54577550e-02 6.18289406e-05 9.99880520e-01 -1.27014874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76439141799999 meters 0.01391117852189591 Centerline is valid? [True, True] Translation: X:59.42, Y:1.18, Z:-1.27 [[ 9.99065398e-01 4.04343585e-02 1.52772103e-02 5.94224370e+01] [-4.04286609e-02 9.99182195e-01 -6.81726137e-04 1.18184313e+00] [-1.52922816e-02 6.34518413e-05 9.99883064e-01 -1.27149023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82439141799999 meters 0.014530913155318443 Centerline is valid? [True, True] Translation: X:59.48, Y:1.18, Z:-1.27 [[ 9.99212308e-01 3.67014221e-02 1.50920192e-02 5.94799540e+01] [-3.66954519e-02 9.99326269e-01 -6.72405533e-04 1.17797443e+00] [-1.51065295e-02 1.18067418e-04 9.99885883e-01 -1.27418992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884391417999986 meters 0.015087160280850997 Centerline is valid? [True, True] Translation: X:59.54, Y:1.17, Z:-1.28 [[ 9.99361621e-01 3.26638762e-02 1.44714274e-02 5.95386456e+01] [-3.26579850e-02 9.99466379e-01 -6.43285937e-04 1.17429806e+00] [-1.44847173e-02 1.70267619e-04 9.99895076e-01 -1.27600644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94439141799999 meters 0.01731194214125086 Centerline is valid? [True, True] Translation: X:59.60, Y:1.17, Z:-1.28 [[ 9.99542449e-01 2.65307477e-02 1.45262476e-02 5.95969671e+01] [-2.65241833e-02 9.99647964e-01 -6.44401707e-04 1.16832535e+00] [-1.45382303e-02 2.58810006e-04 9.99894281e-01 -1.27822831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00439141799999 meters 0.01969659000060654 Centerline is valid? [True, True] Translation: X:59.66, Y:1.16, Z:-1.28 [[ 9.99598055e-01 2.23950613e-02 1.73835831e-02 5.96577367e+01] [-2.23850619e-02 9.99749127e-01 -7.69609810e-04 1.16480153e+00] [-1.73964575e-02 3.80167886e-04 9.99848598e-01 -1.27780096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064391417999985 meters 0.02015197412623619 Centerline is valid? [True, True] Translation: X:59.72, Y:1.16, Z:-1.28 [[ 9.99613243e-01 2.04380908e-02 1.88586462e-02 5.97190372e+01] [-2.04259765e-02 9.99791019e-01 -8.34792121e-04 1.16206520e+00] [-1.88717667e-02 4.49262996e-04 9.99821811e-01 -1.27681630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12439141799999 meters 0.020810675740928968 Centerline is valid? [True, True] Translation: X:59.78, Y:1.16, Z:-1.28 [[ 9.99628599e-01 1.94700183e-02 1.90678260e-02 5.97807399e+01] [-1.94574558e-02 9.99810329e-01 -8.44153461e-04 1.16054285e+00] [-1.90806451e-02 4.72828560e-04 9.99817836e-01 -1.27939282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18439141799999 meters 0.019121945109479597 Centerline is valid? [True, True] Translation: X:59.84, Y:1.16, Z:-1.28 [[ 9.99608587e-01 2.05153698e-02 1.90208335e-02 5.98426966e+01] [-2.05029681e-02 9.99789433e-01 -8.46810358e-04 1.16169961e+00] [-1.90342009e-02 4.56495364e-04 9.99818729e-01 -1.28083610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244391417999985 meters 0.02048045762581886 Centerline is valid? [True, True] Translation: X:59.90, Y:1.16, Z:-1.28 [[ 9.99566061e-01 2.26333260e-02 1.88526386e-02 5.99040391e+01] [-2.26214159e-02 9.99743746e-01 -8.44795309e-04 1.15994801e+00] [-1.88669280e-02 4.17955343e-04 9.99821916e-01 -1.28371255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30439141799999 meters 0.01628382545754059 Centerline is valid? [True, True] Translation: X:59.97, Y:1.17, Z:-1.28 [[ 9.99393996e-01 2.97297047e-02 1.81048706e-02 5.99661657e+01] [-2.97197876e-02 9.99557936e-01 -8.16626906e-04 1.16661958e+00] [-1.81211452e-02 2.78059118e-04 9.99835760e-01 -1.28435615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36439141799999 meters 0.0148605604573566 Centerline is valid? [True, True] Translation: X:60.03, Y:1.17, Z:-1.29 [[ 9.99028781e-01 4.02972763e-02 1.78220332e-02 6.00252532e+01] [-4.02893192e-02 9.99187731e-01 -8.05442440e-04 1.17410412e+00] [-1.78400141e-02 8.66225933e-05 9.99840851e-01 -1.28708073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424391417999985 meters 0.014602900956916178 Centerline is valid? [True, True] Translation: X:60.08, Y:1.18, Z:-1.29 [[ 9.98751718e-01 4.64192392e-02 1.84461140e-02 6.00844665e+01] [-4.64117786e-02 9.98922046e-01 -8.32573927e-04 1.17829351e+00] [-1.84648774e-02 -2.45823181e-05 9.99829509e-01 -1.28786115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48439141799999 meters 0.014464497566084698 Centerline is valid? [True, True] Translation: X:60.14, Y:1.18, Z:-1.29 [[ 9.98524180e-01 5.15929241e-02 1.69596972e-02 6.01430815e+01] [-5.15873840e-02 9.98668192e-01 -7.64274377e-04 1.18191010e+00] [-1.69765413e-02 -1.11759967e-04 9.99855882e-01 -1.28971730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54439141799999 meters 0.014589837612966582 Centerline is valid? [True, True] Translation: X:60.20, Y:1.18, Z:-1.29 [[ 9.98500742e-01 5.21604015e-02 1.66000517e-02 6.02021523e+01] [-5.21551941e-02 9.98638712e-01 -7.46756685e-04 1.18115574e+00] [-1.66164054e-02 -1.20141816e-04 9.99861931e-01 -1.29157503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604391417999985 meters 0.014260709161328244 Centerline is valid? [True, True] Translation: X:60.26, Y:1.18, Z:-1.29 [[ 9.98693656e-01 4.83029132e-02 1.66676542e-02 6.02601707e+01] [-4.82971467e-02 9.98832731e-01 -7.48560376e-04 1.17625263e+00] [-1.66843562e-02 -5.74176415e-05 9.99860805e-01 -1.29297590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66439141799999 meters 0.01417135399683221 Centerline is valid? [True, True] Translation: X:60.32, Y:1.17, Z:-1.29 [[ 9.99045084e-01 3.98860866e-02 1.78331198e-02 6.03179878e+01] [-3.98781782e-02 9.99204230e-01 -7.98995164e-04 1.16576762e+00] [-1.78507975e-02 8.70798636e-05 9.99840658e-01 -1.29361099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72439141799999 meters 0.01730654201752775 Centerline is valid? [True, True] Translation: X:60.38, Y:1.16, Z:-1.30 [[ 9.99270468e-01 3.33273917e-02 1.86498616e-02 6.03762936e+01] [-3.33176362e-02 9.99444466e-01 -8.33637819e-04 1.15546551e+00] [-1.86672839e-02 2.11660350e-04 9.99825729e-01 -1.29555763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78439141799999 meters 0.019883164214709193 Centerline is valid? [True, True] Translation: X:60.44, Y:1.14, Z:-1.29 [[ 9.99573428e-01 2.18206711e-02 1.94118639e-02 6.04363230e+01] [-2.18079664e-02 9.99761803e-01 -8.65953017e-04 1.14094887e+00] [-1.94261357e-02 4.42250350e-04 9.99811197e-01 -1.29493212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84439141799999 meters 0.02085691653700237 Centerline is valid? [True, True] Translation: X:60.50, Y:1.13, Z:-1.30 [[ 9.99669672e-01 1.64946512e-02 1.97097451e-02 6.04975571e+01] [-1.64805209e-02 9.99863800e-01 -8.79147035e-04 1.13479628e+00] [-1.97215619e-02 5.54029761e-04 9.99805358e-01 -1.29609108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90439141799999 meters 0.02272641834550399 Centerline is valid? [True, True] Translation: X:60.56, Y:1.13, Z:-1.30 [[ 9.99739520e-01 1.23986348e-02 1.91615669e-02 6.05590671e+01] [-1.23845191e-02 9.99922943e-01 -8.55163551e-04 1.12748045e+00] [-1.91706932e-02 6.17634008e-04 9.99816035e-01 -1.29739019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96439141799999 meters 0.023858366800764842 Centerline is valid? [True, True] Translation: X:60.62, Y:1.12, Z:-1.30 [[ 9.99762701e-01 1.11279707e-02 1.87272499e-02 6.06208070e+01] [-1.11142256e-02 9.99937884e-01 -8.37881395e-04 1.12241089e+00] [-1.87354106e-02 6.29543686e-04 9.99824279e-01 -1.29949876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024391417999986 meters 0.024519107912965823 Centerline is valid? [True, True] Translation: X:60.68, Y:1.12, Z:-1.30 [[ 9.99774090e-01 1.18809149e-02 1.76242312e-02 6.06840330e+01] [-1.18687811e-02 9.99929249e-01 -7.92916349e-04 1.11964495e+00] [-1.76324049e-02 5.83559079e-04 9.99844367e-01 -1.30296248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08439141799999 meters 0.02405977185577571 Centerline is valid? [True, True] Translation: X:60.75, Y:1.12, Z:-1.30 [[ 9.99747809e-01 1.31665426e-02 1.81923116e-02 6.07466924e+01] [-1.31536983e-02 9.99913146e-01 -8.25512330e-04 1.11746734e+00] [-1.82016007e-02 5.86007965e-04 9.99834165e-01 -1.30387998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14439141799999 meters 0.022398165693534807 Centerline is valid? [True, True] Translation: X:60.81, Y:1.12, Z:-1.30 [[ 9.99694812e-01 1.74305298e-02 1.75059814e-02 6.08071278e+01] [-1.74192613e-02 9.99847956e-01 -7.95977886e-04 1.11657027e+00] [-1.75171941e-02 4.90793697e-04 9.99846442e-01 -1.30415773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204391417999986 meters 0.01945723687371259 Centerline is valid? [True, True] Translation: X:60.87, Y:1.12, Z:-1.31 [[ 9.99568461e-01 2.51114337e-02 1.52416523e-02 6.08692211e+01] [-2.51037555e-02 9.99684610e-01 -6.94910008e-04 1.12090819e+00] [-1.52542954e-02 3.11987416e-04 9.99883598e-01 -1.30799674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26439141799999 meters 0.016323339730844554 Centerline is valid? [True, True] Translation: X:60.93, Y:1.12, Z:-1.31 [[ 9.99412910e-01 3.08958936e-02 1.48080498e-02 6.09294748e+01] [-3.08892597e-02 9.99522584e-01 -6.76556486e-04 1.12426408e+00] [-1.48218830e-02 2.18749592e-04 9.99890126e-01 -1.30831218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32439141799999 meters 0.014773181274974472 Centerline is valid? [True, True] Translation: X:60.99, Y:1.13, Z:-1.31 [[ 9.99174152e-01 3.76907565e-02 1.51796347e-02 6.09890454e+01] [-3.76845698e-02 9.99289444e-01 -6.93497186e-04 1.12741490e+00] [-1.51949872e-02 1.20886459e-04 9.99884542e-01 -1.30802478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384391417999986 meters 0.014764044225020999 Centerline is valid? [True, True] Translation: X:61.05, Y:1.13, Z:-1.31 [[ 9.98837966e-01 4.54782438e-02 1.59513687e-02 6.10484765e+01] [-4.54724195e-02 9.98965329e-01 -7.27821105e-04 1.13038073e+00] [-1.59679644e-02 1.62802169e-06 9.99872504e-01 -1.30856815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44439141799999 meters 0.014240905272975555 Centerline is valid? [True, True] Translation: X:61.11, Y:1.13, Z:-1.31 [[ 9.98628598e-01 4.94179463e-02 1.72855212e-02 6.11063972e+01] [-4.94117221e-02 9.98778185e-01 -7.87242727e-04 1.12984521e+00] [-1.73033054e-02 -6.79442713e-05 9.99850284e-01 -1.30910709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50439141799999 meters 0.014861006435325305 Centerline is valid? [True, True] Translation: X:61.16, Y:1.13, Z:-1.31 [[ 9.98358405e-01 5.43658924e-02 1.80234297e-02 6.11649150e+01] [-5.43599665e-02 9.98521068e-01 -8.18906728e-04 1.12900070e+00] [-1.80412948e-02 -1.62190617e-04 9.99837229e-01 -1.31037334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.564391417999985 meters 0.015070981718697384 Centerline is valid? [True, True] Translation: X:61.22, Y:1.13, Z:-1.31 [[ 9.98284851e-01 5.59846819e-02 1.71193443e-02 6.12237667e+01] [-5.59795956e-02 9.98431611e-01 -7.76546103e-04 1.12600276e+00] [-1.71359692e-02 -1.83119759e-04 9.99853152e-01 -1.31210673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62439141799999 meters 0.015392361354228926 Centerline is valid? [True, True] Translation: X:61.28, Y:1.12, Z:-1.31 [[ 9.98375507e-01 5.45053574e-02 1.65985963e-02 6.12820823e+01] [-5.45003932e-02 9.98513466e-01 -7.51613137e-04 1.11930654e+00] [-1.66148889e-02 -1.54237880e-04 9.99861951e-01 -1.31483664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68439141799999 meters 0.0141373225970171 Centerline is valid? [True, True] Translation: X:61.34, Y:1.11, Z:-1.32 [[ 9.98700482e-01 4.82534800e-02 1.63996536e-02 6.13401798e+01] [-4.82478123e-02 9.98835121e-01 -7.41300498e-04 1.10616355e+00] [-1.64163203e-02 -5.09102434e-05 9.99865242e-01 -1.31676956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744391417999985 meters 0.014095312469316347 Centerline is valid? [True, True] Translation: X:61.40, Y:1.10, Z:-1.32 [[ 9.98893510e-01 4.38254765e-02 1.70611684e-02 6.13986820e+01] [-4.38187208e-02 9.99039202e-01 -7.69773010e-04 1.09769831e+00] [-1.70785118e-02 2.13226869e-05 9.99854151e-01 -1.31764267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80439141799999 meters 0.015619945838125746 Centerline is valid? [True, True] Translation: X:61.46, Y:1.09, Z:-1.32 [[ 9.99067766e-01 3.93339077e-02 1.77888272e-02 6.14572526e+01] [-3.93258775e-02 9.99226117e-01 -8.01136976e-04 1.08582690e+00] [-1.78065726e-02 1.00828888e-04 9.99841445e-01 -1.31953241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86439141799999 meters 0.016214323591095238 Centerline is valid? [True, True] Translation: X:61.52, Y:1.07, Z:-1.32 [[ 9.99236520e-01 3.54039052e-02 1.65209152e-02 6.15152146e+01] [-3.53964610e-02 9.99373073e-01 -7.42882846e-04 1.07325407e+00] [-1.65368588e-02 1.57533739e-04 9.99863244e-01 -1.32284816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924391417999985 meters 0.017857951264832767 Centerline is valid? [True, True] Translation: X:61.57, Y:1.06, Z:-1.32 [[ 9.99336441e-01 3.24199101e-02 1.66020064e-02 6.15746675e+01] [-3.24120056e-02 9.99474315e-01 -7.45035248e-04 1.06458338e+00] [-1.66174329e-02 2.06436549e-04 9.99861900e-01 -1.32421477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98439141799999 meters 0.017467289849374745 Centerline is valid? [True, True] Translation: X:61.63, Y:1.05, Z:-1.32 [[ 9.99495884e-01 2.66205957e-02 1.73009083e-02 6.16344140e+01] [-2.66111581e-02 9.99645560e-01 -7.75525301e-04 1.05220177e+00] [-1.73154211e-02 3.14737141e-04 9.99850027e-01 -1.32399668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04439141799999 meters 0.0182363655457501 Centerline is valid? [True, True] Translation: X:61.70, Y:1.04, Z:-1.33 [[ 9.99545434e-01 2.50952593e-02 1.67078930e-02 6.16952711e+01] [-2.50862481e-02 9.99685010e-01 -7.48736813e-04 1.04422614e+00] [-1.67214199e-02 3.29258113e-04 9.99860133e-01 -1.32659557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104391417999985 meters 0.01599758836026621 Centerline is valid? [True, True] Translation: X:61.76, Y:1.04, Z:-1.33 [[ 9.99457346e-01 2.90684952e-02 1.54930845e-02 6.17564005e+01] [-2.90612158e-02 9.99577392e-01 -6.94821825e-04 1.04264443e+00] [-1.55067344e-02 2.44196905e-04 9.99879734e-01 -1.32861667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16439141799999 meters 0.01763460690812958 Centerline is valid? [True, True] Translation: X:61.82, Y:1.04, Z:-1.33 [[ 9.99366060e-01 3.26114683e-02 1.42817815e-02 6.18165328e+01] [-3.26056304e-02 9.99468089e-01 -6.41485356e-04 1.04133982e+00] [-1.42951046e-02 1.75412205e-04 9.99897804e-01 -1.33161017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22439141799999 meters 0.013799665121977176 Centerline is valid? [True, True] Translation: X:61.88, Y:1.04, Z:-1.33 [[ 9.98977036e-01 4.20164988e-02 1.67181171e-02 6.18754593e+01] [-4.20098169e-02 9.99116916e-01 -7.50822210e-04 1.04380180e+00] [-1.67349005e-02 4.77291066e-05 9.99859961e-01 -1.33012510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28439141799999 meters 0.013882364073871604 Centerline is valid? [True, True] Translation: X:61.93, Y:1.04, Z:-1.33 [[ 9.98722001e-01 4.73556521e-02 1.76580461e-02 6.19344663e+01] [-4.73490591e-02 9.98878091e-01 -7.91499377e-04 1.04258458e+00] [-1.76757174e-02 -4.56040264e-05 9.99843771e-01 -1.33084451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34439141799999 meters 0.0159193028607156 Centerline is valid? [True, True] Translation: X:61.99, Y:1.04, Z:-1.33 [[ 9.98558646e-01 5.05653246e-02 1.79938265e-02 6.19926480e+01] [-5.05590247e-02 9.98720750e-01 -8.05144175e-04 1.03964425e+00] [-1.80115203e-02 -1.05766644e-04 9.99837774e-01 -1.33247732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40439141799999 meters 0.01391597368535424 Centerline is valid? [True, True] Translation: X:62.05, Y:1.03, Z:-1.33 [[ 9.98771442e-01 4.65310027e-02 1.70432459e-02 6.20509547e+01] [-4.65247919e-02 9.98916846e-01 -7.60939065e-04 1.03069696e+00] [-1.70601927e-02 -3.29292633e-05 9.99854464e-01 -1.33467574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46439141799999 meters 0.013971013098069869 Centerline is valid? [True, True] Translation: X:62.11, Y:1.02, Z:-1.34 [[ 9.99001711e-01 4.14511860e-02 1.66547571e-02 6.21094950e+01] [-4.14445698e-02 9.99140529e-01 -7.42352142e-04 1.02031749e+00] [-1.66712142e-02 5.13618145e-05 9.99861024e-01 -1.33682930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524391417999986 meters 0.015756427953563957 Centerline is valid? [True, True] Translation: X:62.17, Y:1.01, Z:-1.34 [[ 9.99347809e-01 3.20102316e-02 1.67122997e-02 6.21684984e+01] [-3.20022748e-02 9.99487520e-01 -7.43392458e-04 1.00604388e+00] [-1.67275311e-02 2.08076018e-04 9.99860063e-01 -1.33809093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58439141799999 meters 0.017125963651141322 Centerline is valid? [True, True] Translation: X:62.23, Y:1.00, Z:-1.34 [[ 9.99507082e-01 2.65677209e-02 1.67257010e-02 6.22286403e+01] [-2.65590036e-02 9.99646971e-01 -7.43135585e-04 9.98446370e-01] [-1.67395398e-02 2.98551326e-04 9.99859840e-01 -1.33835737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64439141799999 meters 0.021392981011973122 Centerline is valid? [True, True] Translation: X:62.29, Y:0.99, Z:-1.34 [[ 9.99596937e-01 2.18348128e-02 1.81439796e-02 6.22895132e+01] [-2.18237777e-02 9.99761508e-01 -8.05997305e-04 9.87155563e-01] [-1.81572512e-02 4.09702259e-04 9.99835060e-01 -1.33997085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704391417999986 meters 0.020659680925481195 Centerline is valid? [True, True] Translation: X:62.35, Y:0.98, Z:-1.34 [[ 9.99618662e-01 1.94945991e-02 1.95573850e-02 6.23501477e+01] [-1.94813186e-02 9.99809843e-01 -8.69364823e-04 9.80062737e-01] [-1.95706140e-02 4.88029653e-04 9.99808358e-01 -1.33937811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76439141799999 meters 0.020819157498784643 Centerline is valid? [True, True] Translation: X:62.41, Y:0.98, Z:-1.34 [[ 9.99635285e-01 1.86488648e-02 1.95324591e-02 6.24124766e+01] [-1.86354080e-02 9.99825967e-01 -8.70749119e-04 9.75891982e-01] [-1.95452983e-02 5.06436199e-04 9.99808844e-01 -1.34163524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82439141799999 meters 0.021137415609147402 Centerline is valid? [True, True] Translation: X:62.48, Y:0.97, Z:-1.34 [[ 9.99653739e-01 1.81787459e-02 1.90246055e-02 6.24750018e+01] [-1.81657978e-02 9.99834624e-01 -8.53201751e-04 9.71603728e-01] [-1.90369694e-02 5.07309183e-04 9.99818652e-01 -1.34404721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884391417999986 meters 0.022563687823848214 Centerline is valid? [True, True] Translation: X:62.54, Y:0.97, Z:-1.35 [[ 9.99691898e-01 1.74955922e-02 1.76072201e-02 6.25369836e+01] [-1.74843179e-02 9.99846822e-01 -7.94064761e-04 9.65545034e-01] [-1.76184157e-02 4.85969874e-04 9.99844666e-01 -1.34807267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94439141799999 meters 0.022755387220378825 Centerline is valid? [True, True] Translation: X:62.60, Y:0.96, Z:-1.35 [[ 9.99689684e-01 1.82838497e-02 1.69185010e-02 6.25993419e+01] [-1.82734780e-02 9.99832732e-01 -7.67439593e-04 9.63283621e-01] [-1.69297028e-02 4.58041588e-04 9.99856577e-01 -1.34992953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00439141799999 meters 0.019663342172682105 Centerline is valid? [True, True] Translation: X:62.66, Y:0.96, Z:-1.35 [[ 9.99581994e-01 2.22221755e-02 1.84935686e-02 6.26609831e+01] [-2.22103363e-02 9.99752963e-01 -8.45354097e-04 9.64598811e-01] [-1.85077856e-02 4.34252356e-04 9.99828622e-01 -1.34904917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064391417999985 meters 0.018596981759587097 Centerline is valid? [True, True] Translation: X:62.72, Y:0.97, Z:-1.35 [[ 9.99419095e-01 2.82696203e-02 1.90341974e-02 6.27227818e+01] [-2.82581608e-02 9.99600279e-01 -8.70788727e-04 9.66865119e-01] [-1.90512059e-02 3.32411471e-04 9.99818454e-01 -1.35207136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12439141799999 meters 0.01489414164697412 Centerline is valid? [True, True] Translation: X:62.78, Y:0.97, Z:-1.35 [[ 9.99118334e-01 3.79117033e-02 1.80349194e-02 6.27834672e+01] [-3.79029636e-02 9.99281083e-01 -8.26291038e-04 9.73427073e-01] [-1.80532799e-02 1.41985632e-04 9.99837016e-01 -1.35270234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18439141799999 meters 0.015105352821919205 Centerline is valid? [True, True] Translation: X:62.84, Y:0.98, Z:-1.35 [[ 9.98840371e-01 4.46209962e-02 1.80798290e-02 6.28430975e+01] [-4.46133006e-02 9.99003987e-01 -8.28956040e-04 9.76663865e-01] [-1.80988101e-02 2.13939142e-05 9.99836203e-01 -1.35395064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244391417999985 meters 0.014608286202338597 Centerline is valid? [True, True] Translation: X:62.90, Y:0.98, Z:-1.35 [[ 9.98532089e-01 5.03958401e-02 1.98475666e-02 6.29015410e+01] [-5.03877214e-02 9.98729318e-01 -9.09241791e-04 9.78310318e-01] [-1.98681686e-02 -9.21665515e-05 9.99802604e-01 -1.35319138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30439141799999 meters 0.014674814920215908 Centerline is valid? [True, True] Translation: X:62.96, Y:0.97, Z:-1.35 [[ 9.98503821e-01 5.04322543e-02 2.11354464e-02 6.29590758e+01] [-5.04231034e-02 9.98727479e-01 -9.65999520e-04 9.74827364e-01] [-2.11572686e-02 -1.01160587e-04 9.99776155e-01 -1.35332873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36439141799999 meters 0.016395578467008343 Centerline is valid? [True, True] Translation: X:63.02, Y:0.97, Z:-1.36 [[ 9.98627024e-01 4.81848236e-02 2.05497023e-02 6.30177152e+01] [-4.81757408e-02 9.98838435e-01 -9.37100906e-04 9.67699478e-01] [-2.05709865e-02 -5.41828415e-05 9.99788393e-01 -1.35764414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424391417999985 meters 0.01737035036995783 Centerline is valid? [True, True] Translation: X:63.08, Y:0.95, Z:-1.36 [[ 9.99036169e-01 3.94063670e-02 1.93357570e-02 6.30771314e+01] [-3.93967095e-02 9.99223261e-01 -8.80276476e-04 9.54084791e-01] [-1.93554266e-02 1.17662838e-04 9.99812659e-01 -1.36071948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48439141799999 meters 0.017150160315238954 Centerline is valid? [True, True] Translation: X:63.14, Y:0.94, Z:-1.36 [[ 9.99439324e-01 2.80697948e-02 1.82517015e-02 6.31381000e+01] [-2.80593176e-02 9.99605915e-01 -8.29924779e-04 9.40668288e-01] [-1.82678046e-02 3.17329171e-04 9.99833079e-01 -1.36081857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54439141799999 meters 0.02154887617367787 Centerline is valid? [True, True] Translation: X:63.20, Y:0.93, Z:-1.36 [[ 9.99617337e-01 2.08131842e-02 1.82206088e-02 6.31971862e+01] [-2.08015214e-02 9.99783281e-01 -8.29402263e-04 9.27667452e-01] [-1.82339225e-02 4.50068499e-04 9.99833647e-01 -1.36264574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.604391417999985 meters 0.02474463977308581 Centerline is valid? [True, True] Translation: X:63.26, Y:0.92, Z:-1.36 [[ 9.99736790e-01 1.28285345e-02 1.90205118e-02 6.32574681e+01] [-1.28143821e-02 9.99917518e-01 -8.65755339e-04 9.18130712e-01] [-1.90300493e-02 6.21791357e-04 9.99818719e-01 -1.36327889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66439141799999 meters 0.02541513320926784 Centerline is valid? [True, True] Translation: X:63.32, Y:0.91, Z:-1.36 [[ 9.99764564e-01 1.00192591e-02 1.92465938e-02 6.33192549e+01] [-1.00042539e-02 9.99949573e-01 -8.75757289e-04 9.13539071e-01] [-1.92543977e-02 6.83003292e-04 9.99814384e-01 -1.36425557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72439141799999 meters 0.026075342984428134 Centerline is valid? [True, True] Translation: X:63.38, Y:0.91, Z:-1.36 [[ 9.99765945e-01 8.37315260e-03 1.99485813e-02 6.33814437e+01] [-8.35659871e-03 9.99964666e-01 -9.13044735e-04 9.11797202e-01] [-1.99555215e-02 7.46128744e-04 9.99800590e-01 -1.36489550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784391417999984 meters 0.02919530241455635 Centerline is valid? [True, True] Translation: X:63.44, Y:0.91, Z:-1.37 [[ 9.99790272e-01 7.81961346e-03 1.89278810e-02 6.34426393e+01] [-7.80451513e-03 9.99969165e-01 -8.71414869e-04 9.09137703e-01] [-1.89341114e-02 7.23509176e-04 9.99820472e-01 -1.36808258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84439141799999 meters 0.027531135557327925 Centerline is valid? [True, True] Translation: X:63.51, Y:0.91, Z:-1.37 [[ 9.99814348e-01 6.10727608e-03 1.82748598e-02 6.35050246e+01] [-6.09283574e-03 9.99981081e-01 -8.45748495e-04 9.08451367e-01] [-1.82796793e-02 7.34245762e-04 9.99832643e-01 -1.36952790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90439141799999 meters 0.02776892464387972 Centerline is valid? [True, True] Translation: X:63.57, Y:0.91, Z:-1.37 [[ 9.99853681e-01 3.16534802e-03 1.68106125e-02 6.35667936e+01] [-3.15262906e-03 9.99994724e-01 -7.83050044e-04 9.08101592e-01] [-1.68130024e-02 7.29937844e-04 9.99858385e-01 -1.37174859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96439141799999 meters 0.02930792361081278 Centerline is valid? [True, True] Translation: X:63.63, Y:0.91, Z:-1.37 [[ 9.99867681e-01 2.51170647e-03 1.60721072e-02 6.36292218e+01] [-2.49997841e-03 9.99996594e-01 -7.49765386e-04 9.07040758e-01] [-1.60739357e-02 7.09486257e-04 9.99870554e-01 -1.37452784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024391418 meters 0.0297265291460098 Centerline is valid? [True, True] Translation: X:63.69, Y:0.91, Z:-1.38 [[ 9.99870165e-01 2.46313833e-03 1.59244020e-02 6.36913596e+01] [-2.45154647e-03 9.99996716e-01 -7.47410856e-04 9.08239241e-01] [-1.59261907e-02 7.08274404e-04 9.99872919e-01 -1.37557116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08439141799998 meters 0.030284988782919717 Centerline is valid? [True, True] Translation: X:63.75, Y:0.91, Z:-1.38 [[ 9.99884822e-01 3.48734151e-03 1.47709561e-02 6.37540898e+01] [-3.47741117e-03 9.99993710e-01 -6.97918883e-04 9.08129709e-01] [-1.47732971e-02 6.46473810e-04 9.99890660e-01 -1.37875277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14439141799998 meters 0.029274823855247857 Centerline is valid? [True, True] Translation: X:63.82, Y:0.91, Z:-1.38 [[ 9.99854104e-01 6.28313228e-03 1.58837257e-02 6.38153280e+01] [-6.27194760e-03 9.99980047e-01 -7.53876206e-04 9.13335387e-01] [-1.58881455e-02 6.54144323e-04 9.99873561e-01 -1.37821753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20439141799999 meters 0.026495436767170196 Centerline is valid? [True, True] Translation: X:63.88, Y:0.92, Z:-1.38 [[ 9.99816094e-01 1.07678650e-02 1.58692167e-02 6.38775117e+01] [-1.07572567e-02 9.99941855e-01 -7.53699766e-04 9.20460205e-01] [-1.58764097e-02 5.82851919e-04 9.99873792e-01 -1.37863134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26439141799999 meters 0.022453957880642035 Centerline is valid? [True, True] Translation: X:63.94, Y:0.93, Z:-1.38 [[ 9.99675202e-01 1.85125421e-02 1.75150200e-02 6.39388130e+01] [-1.85007822e-02 9.99828499e-01 -8.33228075e-04 9.31628840e-01] [-1.75274413e-02 5.08915875e-04 9.99846253e-01 -1.37768350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32439141799999 meters 0.020072005237050508 Centerline is valid? [True, True] Translation: X:64.00, Y:0.94, Z:-1.38 [[ 9.99549152e-01 2.35345245e-02 1.86445490e-02 6.40002425e+01] [-2.35220656e-02 9.99722924e-01 -8.87280015e-04 9.37166344e-01] [-1.86602648e-02 4.48321681e-04 9.99825782e-01 -1.37821237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38439141799999 meters 0.01939860483539986 Centerline is valid? [True, True] Translation: X:64.06, Y:0.94, Z:-1.38 [[ 9.99401714e-01 2.86407909e-02 1.93886388e-02 6.40609694e+01] [-2.86282659e-02 9.99589701e-01 -9.23302459e-04 9.42954238e-01] [-1.94071278e-02 3.67686953e-04 9.99811596e-01 -1.37876985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44439141799998 meters 0.016638072247270905 Centerline is valid? [True, True] Translation: X:64.12, Y:0.95, Z:-1.38 [[ 9.99354667e-01 3.10912312e-02 1.79884752e-02 6.41227052e+01] [-3.10808068e-02 9.99516506e-01 -8.58850975e-04 9.48621125e-01] [-1.80064807e-02 2.99200406e-04 9.99837825e-01 -1.38123769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50439141799998 meters 0.016526186776574414 Centerline is valid? [True, True] Translation: X:64.18, Y:0.95, Z:-1.38 [[ 9.99337431e-01 3.20073093e-02 1.73271930e-02 6.41823404e+01] [-3.19977583e-02 9.99487597e-01 -8.28236430e-04 9.47517534e-01] [-1.73448241e-02 2.73256332e-04 9.99849530e-01 -1.38310140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56439141799999 meters 0.016374593194868323 Centerline is valid? [True, True] Translation: X:64.24, Y:0.95, Z:-1.38 [[ 9.99301172e-01 3.30945825e-02 1.73757385e-02 6.42409914e+01] [-3.30851467e-02 9.99452192e-01 -8.30308340e-04 9.49968927e-01] [-1.73936986e-02 2.54849241e-04 9.99848686e-01 -1.38266794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62439141799999 meters 0.01629785639257723 Centerline is valid? [True, True] Translation: X:64.30, Y:0.95, Z:-1.38 [[ 9.99227446e-01 3.38115441e-02 2.00322630e-02 6.43011560e+01] [-3.37991656e-02 9.99428187e-01 -9.56274635e-04 9.50152535e-01] [-2.00531415e-02 2.78462084e-04 9.99798877e-01 -1.38071132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68439141799999 meters 0.015700627512572618 Centerline is valid? [True, True] Translation: X:64.36, Y:0.95, Z:-1.38 [[ 9.99139522e-01 3.51443914e-02 2.20246941e-02 6.43605940e+01] [-3.51297723e-02 9.99382207e-01 -1.05043848e-03 9.51797057e-01] [-2.20480044e-02 2.75812111e-04 9.99756875e-01 -1.37713851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74439141799999 meters 0.017135795563070537 Centerline is valid? [True, True] Translation: X:64.42, Y:0.95, Z:-1.38 [[ 9.99124939e-01 3.60807759e-02 2.11549768e-02 6.44201662e+01] [-3.60675161e-02 9.99348847e-01 -1.00812715e-03 9.52205723e-01] [-2.11775757e-02 2.44237509e-04 9.99775700e-01 -1.37567562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804391418 meters 0.01705176505599716 Centerline is valid? [True, True] Translation: X:64.48, Y:0.95, Z:-1.37 [[ 9.99212929e-01 3.27627034e-02 2.23635528e-02 6.44795521e+01] [-3.27470754e-02 9.99463104e-01 -1.06477443e-03 9.47851868e-01] [-2.23864308e-02 3.31595429e-04 9.99749337e-01 -1.36980385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86439141799998 meters 0.017474666928397053 Centerline is valid? [True, True] Translation: X:64.54, Y:0.94, Z:-1.37 [[ 9.99366701e-01 2.93110488e-02 2.01756939e-02 6.45403137e+01] [-2.92976350e-02 9.99570271e-01 -9.60174831e-04 9.44108561e-01] [-2.01951675e-02 3.68466638e-04 9.99795989e-01 -1.37086760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92439141799998 meters 0.019351360536932205 Centerline is valid? [True, True] Translation: X:64.60, Y:0.94, Z:-1.38 [[ 9.99584390e-01 2.57852969e-02 1.28905433e-02 6.46003430e+01] [-2.57795273e-02 9.99667464e-01 -6.13574280e-04 9.37658402e-01] [-1.29020780e-02 2.81007158e-04 9.99916725e-01 -1.37736030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98439141799999 meters 0.01733326254129435 Centerline is valid? [True, True] Translation: X:64.66, Y:0.94, Z:-1.38 [[ 9.99521213e-01 2.97316207e-02 8.56596221e-03 6.46596252e+01] [-2.97292061e-02 9.99557906e-01 -4.09102699e-04 9.40466655e-01] [-8.57433853e-03 1.54247570e-04 9.99963228e-01 -1.38316782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04439141799999 meters 0.016403356324473924 Centerline is valid? [True, True] Translation: X:64.72, Y:0.94, Z:-1.39 [[ 9.99284799e-01 3.70483430e-02 7.57044923e-03 6.47189743e+01] [-3.70466720e-02 9.99313471e-01 -3.60885368e-04 9.43413498e-01] [-7.57862211e-03 8.01673122e-05 9.99971279e-01 -1.38694557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10439141799999 meters 0.01432659743619587 Centerline is valid? [True, True] Translation: X:64.78, Y:0.95, Z:-1.39 [[ 9.98843434e-01 4.68692518e-02 1.07269784e-02 6.47785522e+01] [-4.68664761e-02 9.98901033e-01 -5.10125091e-04 9.48098655e-01] [-1.07390990e-02 6.79942043e-06 9.99942334e-01 -1.38737663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164391418 meters 0.015978983186669262 Centerline is valid? [True, True] Translation: X:64.84, Y:0.95, Z:-1.39 [[ 9.98629532e-01 5.08004520e-02 1.25846097e-02 6.48365140e+01] [-5.07969516e-02 9.98708823e-01 -5.97836495e-04 9.47452749e-01] [-1.25987311e-02 -4.22426291e-05 9.99920632e-01 -1.38748948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22439141799998 meters 0.015214781593392283 Centerline is valid? [True, True] Translation: X:64.89, Y:0.94, Z:-1.39 [[ 9.98820529e-01 4.70768804e-02 1.18877238e-02 6.48937925e+01] [-4.70735034e-02 9.98891269e-01 -5.63871195e-04 9.40710878e-01] [-1.19010889e-02 3.60931542e-06 9.99929180e-01 -1.38832764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28439141799998 meters 0.015541785705934407 Centerline is valid? [True, True] Translation: X:64.95, Y:0.93, Z:-1.39 [[ 9.99335590e-01 3.51150540e-02 9.76280259e-03 6.49530246e+01] [-3.51122215e-02 9.99383269e-01 -4.61432107e-04 9.25630133e-01] [-9.77298478e-03 1.18331840e-04 9.99952236e-01 -1.39053772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34439141799999 meters 0.018027953752568632 Centerline is valid? [True, True] Translation: X:65.01, Y:0.91, Z:-1.39 [[ 9.99613049e-01 2.66880243e-02 7.84232824e-03 6.50114745e+01] [-2.66859362e-02 9.99643798e-01 -3.70804215e-04 9.14639126e-01] [-7.84943082e-03 1.61380861e-04 9.99969180e-01 -1.39289287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40439141799999 meters 0.022493035279750766 Centerline is valid? [True, True] Translation: X:65.07, Y:0.90, Z:-1.40 [[ 9.99846554e-01 1.62576643e-02 6.52363076e-03 6.50708561e+01] [-1.62560039e-02 9.99867815e-01 -3.07465953e-04 9.02636139e-01] [-6.52776711e-03 2.01370606e-04 9.99978674e-01 -1.39535611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46439141799999 meters 0.02781382254757528 Centerline is valid? [True, True] Translation: X:65.13, Y:0.89, Z:-1.40 [[ 9.99939296e-01 7.62315827e-03 7.95561788e-03 6.51294586e+01] [-7.62041486e-03 9.99970894e-01 -3.75096261e-04 8.90104635e-01] [-7.95824574e-03 3.14448383e-04 9.99968283e-01 -1.39789827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524391418 meters 0.03125833019898783 Centerline is valid? [True, True] Translation: X:65.19, Y:0.88, Z:-1.40 [[ 9.99948867e-01 3.18213615e-03 9.59885882e-03 6.51905729e+01] [-3.17794912e-03 9.99994848e-01 -4.51422288e-04 8.82837019e-01] [-9.60024586e-03 4.20894520e-04 9.99953828e-01 -1.39823615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58439141799998 meters 0.03462422583870474 Centerline is valid? [True, True] Translation: X:65.25, Y:0.88, Z:-1.40 [[ 9.99916074e-01 -7.02308533e-04 1.29364208e-02 6.52505524e+01] [ 7.10252967e-04 9.99999562e-01 -6.09529709e-04 8.78341829e-01] [-1.29359870e-02 6.18666685e-04 9.99916135e-01 -1.39587839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64439141799998 meters 0.0355915334658691 Centerline is valid? [True, True] Translation: X:65.31, Y:0.88, Z:-1.40 [[ 9.99901011e-01 -5.92514798e-04 1.40576102e-02 6.53125624e+01] [ 6.01876947e-04 9.99999600e-01 -6.61763071e-04 8.78120186e-01] [-1.40572124e-02 6.70158515e-04 9.99900968e-01 -1.39522929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70439141799999 meters 0.035680054833469206 Centerline is valid? [True, True] Translation: X:65.37, Y:0.88, Z:-1.40 [[ 9.99904346e-01 6.81545848e-05 1.38309392e-02 6.53748769e+01] [-5.91410337e-05 9.99999786e-01 -6.52102765e-04 8.80497445e-01] [-1.38309806e-02 6.51222412e-04 9.99904135e-01 -1.39628489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76439141799999 meters 0.03669997752430633 Centerline is valid? [True, True] Translation: X:65.44, Y:0.88, Z:-1.40 [[ 9.99949587e-01 7.48283930e-04 1.00132174e-02 6.54356780e+01] [-7.43606149e-04 9.99999613e-01 -4.70875506e-04 8.82073245e-01] [-1.00135659e-02 4.63405877e-04 9.99949756e-01 -1.40119244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82439141799999 meters 0.028551405485762134 Centerline is valid? [True, True] Translation: X:65.50, Y:0.89, Z:-1.40 [[ 9.99962066e-01 2.99355123e-03 8.17956521e-03 6.54987246e+01] [-2.99048454e-03 9.99995454e-01 -3.87125858e-04 8.94824374e-01] [-8.18068690e-03 3.62650309e-04 9.99966472e-01 -1.40215687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88439141799999 meters 0.027030238502739237 Centerline is valid? [True, True] Translation: X:65.56, Y:0.90, Z:-1.40 [[ 9.99937707e-01 8.05920868e-03 7.72206833e-03 6.55582269e+01] [-8.05661095e-03 9.99967477e-01 -3.67451018e-04 8.99045851e-01] [-7.72477856e-03 3.05214428e-04 9.99970117e-01 -1.40479252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94439141799998 meters 0.022025624920225407 Centerline is valid? [True, True] Translation: X:65.62, Y:0.91, Z:-1.41 [[ 9.99757721e-01 2.02625335e-02 8.59816714e-03 6.56190492e+01] [-2.02597677e-02 9.99794666e-01 -4.08666690e-04 9.12256724e-01] [-8.60468227e-03 2.34370810e-04 9.99962952e-01 -1.40654828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00439141799998 meters 0.017880912193674943 Centerline is valid? [True, True] Translation: X:65.68, Y:0.92, Z:-1.41 [[ 9.99532810e-01 2.88654041e-02 1.00474160e-02 6.56794993e+01] [-2.88620595e-02 9.99583290e-01 -4.77751279e-04 9.21360602e-01] [-1.00570196e-02 1.87538960e-04 9.99949409e-01 -1.40564213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06439141799999 meters 0.015590505754309234 Centerline is valid? [True, True] Translation: X:65.74, Y:0.93, Z:-1.40 [[ 9.99267563e-01 3.63214469e-02 1.20453250e-02 6.57396085e+01] [-3.63171828e-02 9.99340149e-01 -5.72622896e-04 9.29694369e-01] [-1.20581754e-02 1.34751216e-04 9.99927288e-01 -1.40461522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12439141799999 meters 0.014717609694551128 Centerline is valid? [True, True] Translation: X:65.80, Y:0.94, Z:-1.40 [[ 9.99022288e-01 4.20279208e-02 1.37157807e-02 6.57987509e+01] [-4.20229341e-02 9.99116434e-01 -6.51701197e-04 9.37016498e-01] [-1.37310515e-02 7.46866715e-05 9.99905722e-01 -1.40465267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18439141799999 meters 0.014795190828040724 Centerline is valid? [True, True] Translation: X:65.86, Y:0.94, Z:-1.41 [[ 9.99063091e-01 4.11375291e-02 1.34403548e-02 6.58579892e+01] [-4.11326735e-02 9.99153490e-01 -6.37621415e-04 9.35530348e-01] [-1.34552075e-02 8.41862977e-05 9.99909471e-01 -1.40645661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24439141799999 meters 0.016386331427656976 Centerline is valid? [True, True] Translation: X:65.92, Y:0.93, Z:-1.41 [[ 9.99333103e-01 3.48024457e-02 1.10516519e-02 6.59155395e+01] [-3.47987790e-02 9.99394202e-01 -5.23958638e-04 9.29803258e-01] [-1.10631918e-02 1.39025221e-04 9.99938791e-01 -1.41148134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30439141799998 meters 0.019296068437985335 Centerline is valid? [True, True] Translation: X:65.97, Y:0.92, Z:-1.41 [[ 9.99548158e-01 2.80365845e-02 1.08365193e-02 6.59745285e+01] [-2.80326764e-02 9.99606876e-01 -5.12397960e-04 9.23121435e-01] [-1.08466251e-02 2.08389798e-04 9.99941152e-01 -1.41479040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36439141799998 meters 0.019082576781391487 Centerline is valid? [True, True] Translation: X:66.03, Y:0.92, Z:-1.41 [[ 9.99598295e-01 2.45337343e-02 1.41895709e-02 6.60336790e+01] [-2.45266940e-02 9.99698951e-01 -6.69994356e-04 9.21137006e-01] [-1.42017366e-02 3.21701952e-04 9.99899099e-01 -1.41271512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42439141799998 meters 0.020777018923111297 Centerline is valid? [True, True] Translation: X:66.09, Y:0.92, Z:-1.41 [[ 9.99578465e-01 2.11003612e-02 1.99415883e-02 6.60928171e+01] [-2.10858186e-02 9.99777228e-01 -9.39266799e-04 9.18361624e-01] [-1.99569648e-02 5.18386151e-04 9.99800706e-01 -1.40845870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48439141799999 meters 0.02242509219919579 Centerline is valid? [True, True] Translation: X:66.15, Y:0.91, Z:-1.41 [[ 9.99662012e-01 1.60971368e-02 2.04143254e-02 6.61541017e+01] [-1.60808829e-02 9.99870233e-01 -9.60117583e-04 9.11745551e-01] [-2.04271315e-02 6.31512696e-04 9.99791145e-01 -1.40966098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54439141799999 meters 0.024555862170996458 Centerline is valid? [True, True] Translation: X:66.22, Y:0.91, Z:-1.41 [[ 9.99749750e-01 1.32368489e-02 1.80339245e-02 6.62155264e+01] [-1.32237051e-02 9.99912203e-01 -8.47892550e-04 9.05523225e-01] [-1.80435646e-02 6.09205065e-04 9.99837016e-01 -1.41450749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60439141799999 meters 0.028581819661386926 Centerline is valid? [True, True] Translation: X:66.28, Y:0.90, Z:-1.42 [[ 9.99833838e-01 9.28998092e-03 1.56841330e-02 6.62754540e+01] [-9.27947739e-03 9.99956669e-01 -7.42334598e-04 8.96275117e-01] [-1.56903497e-02 5.96670692e-04 9.99876721e-01 -1.41875141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664391418 meters 0.02578410329985712 Centerline is valid? [True, True] Translation: X:66.34, Y:0.90, Z:-1.42 [[ 9.99839032e-01 1.07192502e-02 1.43877517e-02 6.63375030e+01] [-1.07105838e-02 9.99942409e-01 -6.79269041e-04 8.98652267e-01] [-1.43942043e-02 5.25058481e-04 9.99896260e-01 -1.42174300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72439141799998 meters 0.022028396120082106 Centerline is valid? [True, True] Translation: X:66.40, Y:0.91, Z:-1.42 [[ 9.99708319e-01 1.87440343e-02 1.52294980e-02 6.63982297e+01] [-1.87351553e-02 9.99824218e-01 -7.25488954e-04 9.05333988e-01] [-1.52404196e-02 4.39950333e-04 9.99883761e-01 -1.42236927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78439141799998 meters 0.018469902497304996 Centerline is valid? [True, True] Translation: X:66.46, Y:0.91, Z:-1.42 [[ 9.99506791e-01 2.65773753e-02 1.67277812e-02 6.64595234e+01] [-2.65677633e-02 9.99646697e-01 -7.96610760e-04 9.12840406e-01] [-1.67430431e-02 3.51798131e-04 9.99859764e-01 -1.42072630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84439141799999 meters 0.015513878110300161 Centerline is valid? [True, True] Translation: X:66.52, Y:0.92, Z:-1.42 [[ 9.99173382e-01 3.56157469e-02 1.95977133e-02 6.65191850e+01] [-3.56042785e-02 9.99365530e-01 -9.33906629e-04 9.19604948e-01] [-1.96185409e-02 2.35372203e-04 9.99807510e-01 -1.41789376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90439141799999 meters 0.014905771667110929 Centerline is valid? [True, True] Translation: X:66.58, Y:0.92, Z:-1.42 [[ 9.99029096e-01 4.07220176e-02 1.68102065e-02 6.65779244e+01] [-4.07143084e-02 9.99170508e-01 -8.00720583e-04 9.23277144e-01] [-1.68288696e-02 1.15527227e-04 9.99858378e-01 -1.42376269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96439141799999 meters 0.014558521188957013 Centerline is valid? [True, True] Translation: X:66.64, Y:0.92, Z:-1.43 [[ 9.99105422e-01 3.99439468e-02 1.38865387e-02 6.66370238e+01] [-3.99386220e-02 9.99201917e-01 -6.60672803e-04 9.20957511e-01] [-1.39018459e-02 1.05472561e-04 9.99903359e-01 -1.42941544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024391418 meters 0.014863889348328671 Centerline is valid? [True, True] Translation: X:66.70, Y:0.92, Z:-1.43 [[ 9.99255987e-01 3.64797057e-02 1.25181421e-02 6.66960282e+01] [-3.64751163e-02 9.99334385e-01 -5.94809901e-04 9.17094975e-01] [-1.25315083e-02 1.37766667e-04 9.99921468e-01 -1.43374279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08439141799998 meters 0.01572380073951204 Centerline is valid? [True, True] Translation: X:66.75, Y:0.91, Z:-1.43 [[ 9.99358094e-01 3.28733632e-02 1.42387611e-02 6.67544301e+01] [-3.28670796e-02 9.99459504e-01 -6.75145620e-04 9.12844867e-01] [-1.42532594e-02 2.06725746e-04 9.99898396e-01 -1.43318544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14439141799998 meters 0.017744614332217728 Centerline is valid? [True, True] Translation: X:66.81, Y:0.91, Z:-1.43 [[ 9.99486986e-01 2.65534968e-02 1.79074539e-02 6.68127686e+01] [-2.65425776e-02 9.99647325e-01 -8.47198500e-04 9.06543445e-01] [-1.79236345e-02 3.71453889e-04 9.99839290e-01 -1.43050371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20439141799999 meters 0.01967966919371343 Centerline is valid? [True, True] Translation: X:66.87, Y:0.90, Z:-1.43 [[ 9.99594257e-01 2.20253256e-02 1.80611889e-02 6.68722648e+01] [-2.20135088e-02 9.99757310e-01 -8.52838698e-04 9.01152266e-01] [-1.80755896e-02 4.54902524e-04 9.99836520e-01 -1.43082225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26439141799999 meters 0.021201771225089875 Centerline is valid? [True, True] Translation: X:66.93, Y:0.90, Z:-1.43 [[ 9.99678497e-01 1.97707448e-02 1.58751266e-02 6.69319706e+01] [-1.97613535e-02 9.99804445e-01 -7.48233391e-04 8.96824506e-01] [-1.58868152e-02 4.34278844e-04 9.99873702e-01 -1.43489114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32439141799999 meters 0.01805543170103081 Centerline is valid? [True, True] Translation: X:66.99, Y:0.90, Z:-1.44 [[ 9.99482735e-01 2.74711206e-02 1.67212597e-02 6.69921984e+01] [-2.74617382e-02 9.99622543e-01 -7.90501574e-04 9.01776703e-01] [-1.67366641e-02 3.30897820e-04 9.99859877e-01 -1.43783559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38439141799999 meters 0.015320951862264233 Centerline is valid? [True, True] Translation: X:67.05, Y:0.91, Z:-1.44 [[ 9.99186394e-01 3.49778764e-02 2.00772892e-02 6.70518878e+01] [-3.49658719e-02 9.99388057e-01 -9.48758876e-04 9.07425030e-01] [-2.00981886e-02 2.45967038e-04 9.99797981e-01 -1.43662266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44439141799998 meters 0.014065960799177008 Centerline is valid? [True, True] Translation: X:67.11, Y:0.91, Z:-1.43 [[ 9.98742658e-01 4.31892484e-02 2.54517611e-02 6.71114741e+01] [-4.31726699e-02 9.99066904e-01 -1.20076656e-03 9.14216952e-01] [-2.54798723e-02 1.00436305e-04 9.99675330e-01 -1.43226996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50439141799998 meters 0.01404743364341274 Centerline is valid? [True, True] Translation: X:67.17, Y:0.91, Z:-1.44 [[ 9.98794854e-01 4.37694045e-02 2.22053704e-02 6.71689225e+01] [-4.37569655e-02 9.99041658e-01 -1.04598465e-03 9.11117671e-01] [-2.22298722e-02 7.30844596e-05 9.99752883e-01 -1.43627890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56439141799999 meters 0.013971070492395439 Centerline is valid? [True, True] Translation: X:67.23, Y:0.91, Z:-1.44 [[ 9.98914173e-01 4.29851534e-02 1.79652973e-02 6.72261014e+01] [-4.29769104e-02 9.99075709e-01 -8.44836209e-04 9.07306480e-01] [-1.79850076e-02 7.18258900e-05 9.99838254e-01 -1.44198322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62439141799999 meters 0.014099428856153303 Centerline is valid? [True, True] Translation: X:67.28, Y:0.91, Z:-1.45 [[ 9.98897826e-01 4.52421464e-02 1.25012502e-02 6.72845662e+01] [-4.52383416e-02 9.98976050e-01 -5.87110879e-04 9.07551768e-01] [-1.25150117e-02 2.09279553e-05 9.99921684e-01 -1.44889902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68439141799999 meters 0.014158238424109341 Centerline is valid? [True, True] Translation: X:67.34, Y:0.91, Z:-1.45 [[ 9.98792114e-01 4.74756724e-02 1.26638563e-02 6.73410739e+01] [-4.74719537e-02 9.98872394e-01 -5.94257198e-04 9.06849279e-01] [-1.26777892e-02 -7.63859411e-06 9.99919634e-01 -1.45105613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74439141799999 meters 0.014691263724169925 Centerline is valid? [True, True] Translation: X:67.40, Y:0.90, Z:-1.45 [[ 9.98686457e-01 4.87429364e-02 1.57951759e-02 6.73999248e+01] [-4.87373605e-02 9.98811356e-01 -7.37978559e-04 9.01247884e-01] [-1.58123723e-02 -3.28059904e-05 9.99874976e-01 -1.45112490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80439141799998 meters 0.013926106085623096 Centerline is valid? [True, True] Translation: X:67.46, Y:0.89, Z:-1.45 [[ 9.98744111e-01 4.70621795e-02 1.71858158e-02 6.74577406e+01] [-4.70553553e-02 9.98891962e-01 -8.01466368e-04 8.94436445e-01] [-1.72044920e-02 -8.22485128e-06 9.99851992e-01 -1.45190875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86439141799998 meters 0.015252189188799302 Centerline is valid? [True, True] Translation: X:67.52, Y:0.89, Z:-1.45 [[ 9.98733192e-01 4.72969250e-02 1.71759020e-02 6.75156451e+01] [-4.72901716e-02 9.98880874e-01 -7.99360264e-04 8.90581224e-01] [-1.71944873e-02 -1.39037240e-05 9.99852164e-01 -1.45440559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92439141799998 meters 0.014075112370023861 Centerline is valid? [True, True] Translation: X:67.57, Y:0.88, Z:-1.45 [[ 9.98801465e-01 4.47906062e-02 1.97340989e-02 6.75742169e+01] [-4.47812580e-02 9.98996397e-01 -9.15577925e-04 8.83009200e-01] [-1.97553030e-02 3.07627989e-05 9.99804844e-01 -1.45207860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98439141799999 meters 0.014415768765785188 Centerline is valid? [True, True] Translation: X:67.63, Y:0.88, Z:-1.45 [[ 9.98899437e-01 4.15222434e-02 2.18132480e-02 6.76325873e+01] [-4.15100837e-02 9.99137574e-01 -1.01013299e-03 8.75040084e-01] [-2.18363787e-02 1.03551525e-04 9.99761552e-01 -1.45102369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04439141799999 meters 0.015733647868023247 Centerline is valid? [True, True] Translation: X:67.69, Y:0.86, Z:-1.45 [[ 9.99177759e-01 3.35339913e-02 2.27876534e-02 6.76903457e+01] [-3.35186878e-02 9.99437536e-01 -1.05329986e-03 8.60973881e-01] [-2.28101575e-02 2.88621551e-04 9.99739773e-01 -1.44994214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10439141799999 meters 0.01883139929156778 Centerline is valid? [True, True] Translation: X:67.75, Y:0.85, Z:-1.45 [[ 9.99365794e-01 2.87753271e-02 2.09759475e-02 6.77493071e+01] [-2.87613557e-02 9.99585838e-01 -9.67512134e-04 8.50807977e-01] [-2.09951006e-02 3.63601845e-04 9.99779512e-01 -1.45378014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164391418 meters 0.018860139121442247 Centerline is valid? [True, True] Translation: X:67.81, Y:0.84, Z:-1.46 [[ 9.99605060e-01 2.17198461e-02 1.78317916e-02 6.78085839e+01] [-2.17086395e-02 9.99764002e-01 -8.21814083e-04 8.37479296e-01] [-1.78454330e-02 4.34385581e-04 9.99840663e-01 -1.45961805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22439141799998 meters 0.01929312938181767 Centerline is valid? [True, True] Translation: X:67.87, Y:0.83, Z:-1.46 [[ 9.99635530e-01 2.06889658e-02 1.73428459e-02 6.78693181e+01] [-2.06782214e-02 9.99785864e-01 -7.98642487e-04 8.27997389e-01] [-1.73556552e-02 4.39732200e-04 9.99849283e-01 -1.46298406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28439141799998 meters 0.018914162937326343 Centerline is valid? [True, True] Translation: X:67.93, Y:0.82, Z:-1.46 [[ 9.99564387e-01 2.26218627e-02 1.89548712e-02 6.79302168e+01] [-2.26093585e-02 9.99743994e-01 -8.73746376e-04 8.23842211e-01] [-1.89697844e-02 4.44808283e-04 9.99819959e-01 -1.46256591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34439141799999 meters 0.017041233450533246 Centerline is valid? [True, True] Translation: X:67.99, Y:0.82, Z:-1.46 [[ 9.99376386e-01 2.90707163e-02 2.00432572e-02 6.79915854e+01] [-2.90580134e-02 9.99577299e-01 -9.24784544e-04 8.23671077e-01] [-2.00616690e-02 3.41790600e-04 9.99798686e-01 -1.46071958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40439141799999 meters 0.015396274085513167 Centerline is valid? [True, True] Translation: X:68.05, Y:0.82, Z:-1.46 [[ 9.99214637e-01 3.46530313e-02 1.92165758e-02 6.80510937e+01] [-3.46423680e-02 9.99399379e-01 -8.87607720e-04 8.23275879e-01] [-1.92357922e-02 2.21202937e-04 9.99814951e-01 -1.46218792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46439141799999 meters 0.014915013823475164 Centerline is valid? [True, True] Translation: X:68.11, Y:0.82, Z:-1.47 [[ 9.98915684e-01 4.38182247e-02 1.57295447e-02 6.81099579e+01] [-4.38122193e-02 9.99039520e-01 -7.26346179e-04 8.23102400e-01] [-1.57462640e-02 3.64123287e-05 9.99876019e-01 -1.46905094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524391418 meters 0.01441671815344766 Centerline is valid? [True, True] Translation: X:68.17, Y:0.82, Z:-1.47 [[ 9.98735646e-01 4.81990731e-02 1.42814378e-02 6.81677514e+01] [-4.81945827e-02 9.98837749e-01 -6.58617705e-04 8.21488635e-01] [-1.42965839e-02 -3.05029552e-05 9.99897798e-01 -1.47338926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58439141799998 meters 0.01475788057408045 Centerline is valid? [True, True] Translation: X:68.23, Y:0.82, Z:-1.47 [[ 9.98530050e-01 5.19366692e-02 1.55022847e-02 6.82264056e+01] [-5.19318577e-02 9.98650376e-01 -7.13035848e-04 8.19526020e-01] [-1.55183952e-02 -9.30747238e-05 9.99879578e-01 -1.47369247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64439141799998 meters 0.014462552576155446 Centerline is valid? [True, True] Translation: X:68.29, Y:0.81, Z:-1.47 [[ 9.98572043e-01 5.03562339e-02 1.78360559e-02 6.82855184e+01] [-5.03496426e-02 9.98731317e-01 -8.18696933e-04 8.13580040e-01] [-1.78546541e-02 -8.05111703e-05 9.99840590e-01 -1.47139760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70439141799999 meters 0.014453991690797623 Centerline is valid? [True, True] Translation: X:68.34, Y:0.80, Z:-1.47 [[ 9.99069921e-01 3.89515051e-02 1.84952189e-02 6.83434113e+01] [-3.89424909e-02 9.99241094e-01 -8.47424660e-04 7.96327474e-01] [-1.85141912e-02 1.26386596e-04 9.99828590e-01 -1.46985713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76439141799999 meters 0.019236030032991423 Centerline is valid? [True, True] Translation: X:68.40, Y:0.78, Z:-1.47 [[ 9.99632902e-01 2.26149621e-02 1.49206159e-02 6.84023158e+01] [-2.26072940e-02 9.99744190e-01 -6.82414708e-04 7.76708116e-01] [-1.49322318e-02 3.44849445e-04 9.99888449e-01 -1.47353915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82439141799999 meters 0.023248170937816778 Centerline is valid? [True, True] Translation: X:68.46, Y:0.76, Z:-1.48 [[ 9.99815683e-01 1.39314410e-02 1.32104410e-02 6.84629242e+01] [-1.39246823e-02 9.99902865e-01 -6.03460495e-04 7.64108304e-01] [-1.32175649e-02 4.19398072e-04 9.99912556e-01 -1.47728975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88439141799999 meters 0.02502962620113327 Centerline is valid? [True, True] Translation: X:68.52, Y:0.76, Z:-1.48 [[ 9.99856001e-01 7.87215413e-03 1.50335196e-02 6.85237117e+01] [-7.86270580e-03 9.99968852e-01 -6.87486949e-04 7.56553247e-01] [-1.50384634e-02 5.69183809e-04 9.99886754e-01 -1.47742429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94439141799998 meters 0.026812132606196033 Centerline is valid? [True, True] Translation: X:68.58, Y:0.75, Z:-1.48 [[ 9.99820475e-01 6.99151865e-03 1.76107162e-02 6.85844740e+01] [-6.97841895e-03 9.99975326e-01 -8.05191046e-04 7.51090466e-01] [-1.76159112e-02 6.82151538e-04 9.99844595e-01 -1.47518396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00439141799998 meters 0.026607545883044682 Centerline is valid? [True, True] Translation: X:68.65, Y:0.75, Z:-1.48 [[ 9.99800218e-01 8.19261344e-03 1.82320083e-02 6.86471382e+01] [-8.17871543e-03 9.99966204e-01 -8.36720710e-04 7.48476915e-01] [-1.82382470e-02 6.87439141e-04 9.99833433e-01 -1.47570721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06439141799999 meters 0.02451611132461074 Centerline is valid? [True, True] Translation: X:68.71, Y:0.75, Z:-1.48 [[ 9.99753302e-01 1.17578966e-02 1.88437412e-02 6.87087954e+01] [-1.17436438e-02 9.99930665e-01 -8.66851236e-04 7.48339961e-01] [-1.88526270e-02 6.45343201e-04 9.99822065e-01 -1.47776251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12439141799999 meters 0.02164268614070583 Centerline is valid? [True, True] Translation: X:68.77, Y:0.75, Z:-1.48 [[ 9.99705602e-01 1.53717822e-02 1.87728139e-02 6.87700499e+01] [-1.53582509e-02 9.99881681e-01 -8.64760432e-04 7.50774113e-01] [-1.87838856e-02 5.76188262e-04 9.99823401e-01 -1.47900479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18439141799999 meters 0.01865679744485002 Centerline is valid? [True, True] Translation: X:68.83, Y:0.75, Z:-1.48 [[ 9.99583434e-01 2.27636587e-02 1.77418535e-02 6.88313658e+01] [-2.27527225e-02 9.99740789e-01 -8.18042941e-04 7.53083731e-01] [-1.77558763e-02 4.14026702e-04 9.99842266e-01 -1.48222454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24439141799999 meters 0.015988875294301874 Centerline is valid? [True, True] Translation: X:68.89, Y:0.76, Z:-1.49 [[ 9.99296106e-01 3.46300720e-02 1.44239401e-02 6.88921899e+01] [-3.46240740e-02 9.99400185e-01 -6.65424673e-04 7.61123860e-01] [-1.44383321e-02 1.65540714e-04 9.99895748e-01 -1.48836407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30439141799998 meters 0.014211683079488521 Centerline is valid? [True, True] Translation: X:68.95, Y:0.77, Z:-1.49 [[ 9.98935423e-01 4.38740416e-02 1.42509659e-02 6.89515106e+01] [-4.38691181e-02 9.99037070e-01 -6.58057705e-04 7.68671469e-01] [-1.42661148e-02 3.21798460e-05 9.99898233e-01 -1.48882188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36439141799998 meters 0.01619532766402951 Centerline is valid? [True, True] Translation: X:69.01, Y:0.78, Z:-1.49 [[ 9.98359339e-01 5.49079771e-02 1.62401948e-02 6.90100027e+01] [-5.49030651e-02 9.98491409e-01 -7.48493926e-04 7.76682796e-01] [-1.62567932e-02 -1.44370568e-04 9.99867839e-01 -1.48783656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42439141799998 meters 0.015344831661747263 Centerline is valid? [True, True] Translation: X:69.07, Y:0.77, Z:-1.49 [[ 9.98283560e-01 5.63095610e-02 1.60986438e-02 6.90685970e+01] [-5.63049426e-02 9.98413344e-01 -7.40342125e-04 7.73961992e-01] [-1.61147891e-02 -1.67361843e-04 9.99870134e-01 -1.48708650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48439141799999 meters 0.015632286819603394 Centerline is valid? [True, True] Translation: X:69.13, Y:0.77, Z:-1.49 [[ 9.98391181e-01 5.55057900e-02 1.15825872e-02 6.91266721e+01] [-5.55033505e-02 9.98458359e-01 -5.32203111e-04 7.68707728e-01] [-1.15942714e-02 -1.11525507e-04 9.99932778e-01 -1.49443022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54439141799999 meters 0.015414679928325226 Centerline is valid? [True, True] Translation: X:69.18, Y:0.77, Z:-1.50 [[ 9.98433442e-01 5.48570363e-02 1.10167306e-02 6.91849167e+01] [-5.48547937e-02 9.98494214e-01 -5.05861452e-04 7.66353330e-01] [-1.10278918e-02 -9.92514917e-05 9.99939186e-01 -1.49757464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60439141799999 meters 0.01520695675197978 Centerline is valid? [True, True] Translation: X:69.24, Y:0.76, Z:-1.49 [[ 9.98377252e-01 5.45292860e-02 1.64140056e-02 6.92424301e+01] [-5.45243197e-02 9.98512161e-01 -7.50259423e-04 7.62781632e-01] [-1.64304953e-02 -1.45920549e-04 9.99865000e-01 -1.49441181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66439141799998 meters 0.01569280148648486 Centerline is valid? [True, True] Translation: X:69.30, Y:0.75, Z:-1.49 [[ 9.98465991e-01 5.07758543e-02 2.20788874e-02 6.93006435e+01] [-5.07660157e-02 9.98710068e-01 -1.00624097e-03 7.50862138e-01] [-2.21014999e-02 -1.16159762e-04 9.99755725e-01 -1.48982343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72439141799998 meters 0.014167328446011703 Centerline is valid? [True, True] Translation: X:69.36, Y:0.74, Z:-1.49 [[ 9.98800659e-01 4.41905299e-02 2.10817455e-02 6.93593363e+01] [-4.41801262e-02 9.99023121e-01 -9.59212211e-04 7.38854777e-01] [-2.11035393e-02 2.66676095e-05 9.99777295e-01 -1.49046668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78439141799998 meters 0.01421580774514894 Centerline is valid? [True, True] Translation: X:69.42, Y:0.73, Z:-1.49 [[ 9.98885942e-01 4.27319694e-02 2.00213298e-02 6.94174745e+01] [-4.27223234e-02 9.99086571e-01 -9.09454697e-04 7.34184268e-01] [-2.00419046e-02 5.30837830e-05 9.99799139e-01 -1.49266667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84439141799999 meters 0.014340204876255279 Centerline is valid? [True, True] Translation: X:69.48, Y:0.73, Z:-1.50 [[ 9.98986451e-01 4.17448903e-02 1.68355264e-02 6.94761312e+01] [-4.17379479e-02 9.99128300e-01 -7.63678391e-04 7.29064264e-01] [-1.68527305e-02 6.02240426e-05 9.99857981e-01 -1.49737371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90439141799999 meters 0.014736531108157317 Centerline is valid? [True, True] Translation: X:69.53, Y:0.72, Z:-1.50 [[ 9.99091513e-01 4.06189072e-02 1.28939151e-02 6.95340875e+01] [-4.06147464e-02 9.99174710e-01 -5.84495874e-04 7.23290473e-01] [-1.29070155e-02 6.02817754e-05 9.99916699e-01 -1.50274700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96439141799999 meters 0.015395487495040544 Centerline is valid? [True, True] Translation: X:69.59, Y:0.72, Z:-1.50 [[ 9.99253912e-01 3.64226348e-02 1.28456444e-02 6.95927651e+01] [-3.64181775e-02 9.99336469e-01 -5.80816782e-04 7.16255703e-01] [-1.28582758e-02 1.12568483e-04 9.99917323e-01 -1.50311531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024391418 meters 0.016124355148335854 Centerline is valid? [True, True] Translation: X:69.65, Y:0.71, Z:-1.50 [[ 9.99391367e-01 3.26096165e-02 1.23898251e-02 6.96511258e+01] [-3.26051885e-02 9.99468153e-01 -5.59269428e-04 7.10003923e-01] [-1.24014732e-02 1.54956454e-04 9.99923087e-01 -1.50332573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08439141799998 meters 0.018336984574421695 Centerline is valid? [True, True] Translation: X:69.71, Y:0.70, Z:-1.50 [[ 9.99608760e-01 2.55816492e-02 1.13095168e-02 6.97089321e+01] [-2.55775239e-02 9.99672712e-01 -5.09274619e-04 7.00594377e-01] [-1.13188434e-02 2.19805933e-04 9.99935916e-01 -1.50495960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14439141799998 meters 0.022545339844012982 Centerline is valid? [True, True] Translation: X:69.77, Y:0.69, Z:-1.51 [[ 9.99818445e-01 1.56076210e-02 1.09306328e-02 6.97690099e+01] [-1.56031807e-02 9.99878142e-01 -4.91394871e-04 6.88983020e-01] [-1.09369703e-02 3.20753018e-04 9.99940138e-01 -1.50619950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20439141799999 meters 0.026100108987992105 Centerline is valid? [True, True] Translation: X:69.83, Y:0.68, Z:-1.51 [[ 9.99885355e-01 8.82199687e-03 1.23064343e-02 6.98292386e+01] [-8.81585725e-03 9.99960987e-01 -5.53054692e-04 6.79130390e-01] [-1.23108332e-02 4.44499519e-04 9.99924120e-01 -1.50679444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26439141799999 meters 0.0315361612086053 Centerline is valid? [True, True] Translation: X:69.89, Y:0.66, Z:-1.51 [[ 9.99879625e-01 -2.35810216e-03 1.53353905e-02 6.98893725e+01] [ 2.36895589e-03 9.99996956e-01 -6.89630081e-04 6.64758107e-01] [-1.53337176e-02 7.25875931e-04 9.99882168e-01 -1.50600266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32439141799999 meters 0.03900897519363436 Centerline is valid? [True, True] Translation: X:69.95, Y:0.65, Z:-1.51 [[ 9.99828472e-01 -1.00493454e-02 1.55575297e-02 6.99491003e+01] [ 1.00614479e-02 9.99949137e-01 -6.99840801e-04 6.51418806e-01] [-1.55497055e-02 8.56252034e-04 9.99878729e-01 -1.50567989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38439141799999 meters 0.03646279455774307 Centerline is valid? [True, True] Translation: X:70.01, Y:0.65, Z:-1.51 [[ 9.99861061e-01 -1.20992262e-02 1.14658948e-02 7.00102518e+01] [ 1.21059332e-02 9.99926588e-01 -5.15722161e-04 6.52048823e-01] [-1.14588132e-02 6.54455863e-04 9.99934131e-01 -1.50920518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44439141799998 meters 0.03306453505537108 Centerline is valid? [True, True] Translation: X:70.07, Y:0.66, Z:-1.51 [[ 9.99935175e-01 -8.66360987e-03 7.38837611e-03 7.00723332e+01] [ 8.66629656e-03 9.99962392e-01 -3.31698705e-04 6.56018467e-01] [-7.38522454e-03 3.95707061e-04 9.99972651e-01 -1.51469697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50439141799998 meters 0.03125872074032547 Centerline is valid? [True, True] Translation: X:70.13, Y:0.66, Z:-1.51 [[ 9.99949567e-01 -2.38112466e-03 9.75673456e-03 7.01325162e+01] [ 2.38552916e-03 9.99997058e-01 -4.39818353e-04 6.58227106e-01] [-9.75565859e-03 4.63071146e-04 9.99952305e-01 -1.51449860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56439141799999 meters 0.02249044319350206 Centerline is valid? [True, True] Translation: X:70.19, Y:0.68, Z:-1.51 [[ 9.99779480e-01 1.65139553e-02 1.29723142e-02 7.01946796e+01] [-1.65077577e-02 9.99863567e-01 -5.84692936e-04 6.78501946e-01] [-1.29802000e-02 3.70420180e-04 9.99915685e-01 -1.50913257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62439141799999 meters 0.017475472283033776 Centerline is valid? [True, True] Translation: X:70.25, Y:0.69, Z:-1.51 [[ 9.99483265e-01 2.98984627e-02 1.18019432e-02 7.02544978e+01] [-2.98942612e-02 9.99552925e-01 -5.32288973e-04 6.90711037e-01] [-1.18125815e-02 1.79203546e-04 9.99930213e-01 -1.50925838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68439141799999 meters 0.015173985729457403 Centerline is valid? [True, True] Translation: X:70.31, Y:0.70, Z:-1.51 [[ 9.99102012e-01 4.13517733e-02 9.23038017e-03 7.03143438e+01] [-4.13496867e-02 9.99144649e-01 -4.16858482e-04 7.01328145e-01] [-9.23972279e-03 3.48108201e-05 9.99957312e-01 -1.51413801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74439141799999 meters 0.01659502783622781 Centerline is valid? [True, True] Translation: X:70.37, Y:0.70, Z:-1.52 [[ 9.99097570e-01 4.11570680e-02 1.04948380e-02 7.03731761e+01] [-4.11543660e-02 9.99152688e-01 -4.73381704e-04 6.97665245e-01] [-1.05054286e-02 4.10461039e-05 9.99944816e-01 -1.51625963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80439141799998 meters 0.015009137431774858 Centerline is valid? [True, True] Translation: X:70.43, Y:0.69, Z:-1.51 [[ 9.99155249e-01 3.92731116e-02 1.21000102e-02 7.04315534e+01] [-3.92693967e-02 9.99228511e-01 -5.44545735e-04 6.94228595e-01] [-1.21120612e-02 6.89256268e-05 9.99926644e-01 -1.51470512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86439141799998 meters 0.015568165721468914 Centerline is valid? [True, True] Translation: X:70.49, Y:0.69, Z:-1.51 [[ 9.99287129e-01 3.55899017e-02 1.25933979e-02 7.04899503e+01] [-3.55855986e-02 9.99366472e-01 -5.65677328e-04 6.88949601e-01] [-1.26055521e-02 1.17130469e-04 9.99920540e-01 -1.51370524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92439141799998 meters 0.01800255534073259 Centerline is valid? [True, True] Translation: X:70.55, Y:0.68, Z:-1.52 [[ 9.99574899e-01 2.82521293e-02 7.19993510e-03 7.05476891e+01] [-2.82505313e-02 9.99600822e-01 -3.23568109e-04 6.77947712e-01] [-7.20620253e-03 1.20028567e-04 9.99974028e-01 -1.52050425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98439141799999 meters 0.021691711130576236 Centerline is valid? [True, True] Translation: X:70.61, Y:0.67, Z:-1.52 [[ 9.99678646e-01 2.31127467e-02 1.04118060e-02 7.06056797e+01] [-2.31091406e-02 9.99732839e-01 -4.66543859e-04 6.67723133e-01] [-1.04198075e-02 2.25786044e-04 9.99945687e-01 -1.51939255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04439141799999 meters 0.0202866834823349 Centerline is valid? [True, True] Translation: X:70.67, Y:0.67, Z:-1.51 [[ 9.99639214e-01 2.19480812e-02 1.54830082e-02 7.06651551e+01] [-2.19400070e-02 9.99759050e-01 -6.91176749e-04 6.67165988e-01] [-1.54944476e-02 3.51230075e-04 9.99879892e-01 -1.51092497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10439141799999 meters 0.019204746827915117 Centerline is valid? [True, True] Translation: X:70.73, Y:0.67, Z:-1.51 [[ 9.99652400e-01 2.30737697e-02 1.27545833e-02 7.07257282e+01] [-2.30683999e-02 9.99733728e-01 -5.67991433e-04 6.65710535e-01] [-1.27642928e-02 2.73566173e-04 9.99918496e-01 -1.51491758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16439141799998 meters 0.020978350221906646 Centerline is valid? [True, True] Translation: X:70.78, Y:0.66, Z:-1.52 [[ 9.99674184e-01 2.21225058e-02 1.27326840e-02 7.07837220e+01] [-2.21170704e-02 9.99755227e-01 -5.67556198e-04 6.55353889e-01] [-1.27421231e-02 2.85761610e-04 9.99918775e-01 -1.51863523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22439141799998 meters 0.01937176655560952 Centerline is valid? [True, True] Translation: X:70.84, Y:0.65, Z:-1.51 [[ 9.99667468e-01 2.16343838e-02 1.40323805e-02 7.08433324e+01] [-2.16277493e-02 9.99765898e-01 -6.24401849e-04 6.52746886e-01] [-1.40426041e-02 3.20705407e-04 9.99901346e-01 -1.51449193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28439141799998 meters 0.019181125669083372 Centerline is valid? [True, True] Translation: X:70.90, Y:0.65, Z:-1.52 [[ 9.99593219e-01 2.69477597e-02 9.33887821e-03 7.09027939e+01] [-2.69450562e-02 9.99636830e-01 -4.15214081e-04 6.49179693e-01] [-9.34667569e-03 1.63408581e-04 9.99956306e-01 -1.52241708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34439141799999 meters 0.016221536676747826 Centerline is valid? [True, True] Translation: X:70.96, Y:0.65, Z:-1.52 [[ 9.99399343e-01 3.35593422e-02 8.64428766e-03 7.09618483e+01] [-3.35572673e-02 9.99436722e-01 -3.84999466e-04 6.50707659e-01] [-8.65233885e-03 9.46895418e-05 9.99962563e-01 -1.52430868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40439141799999 meters 0.015662166481401407 Centerline is valid? [True, True] Translation: X:71.02, Y:0.66, Z:-1.52 [[ 9.98876659e-01 4.60868469e-02 1.10192208e-02 7.10210216e+01] [-4.60842523e-02 9.98937437e-01 -4.89394222e-04 6.58041340e-01] [-1.10300668e-02 -1.89680853e-05 9.99939167e-01 -1.52394400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46439141799999 meters 0.01582358159171122 Centerline is valid? [True, True] Translation: X:71.08, Y:0.66, Z:-1.53 [[ 9.98618808e-01 5.12751280e-02 1.14602606e-02 7.10795340e+01] [-5.12726742e-02 9.98684562e-01 -5.08014155e-04 6.57174000e-01] [-1.14712338e-02 -8.02857170e-05 9.99934200e-01 -1.52620343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524391418 meters 0.015445894240895833 Centerline is valid? [True, True] Translation: X:71.14, Y:0.65, Z:-1.52 [[ 9.98600777e-01 5.07474125e-02 1.48723873e-02 7.11382232e+01] [-5.07432469e-02 9.98711515e-01 -6.57563063e-04 6.47039753e-01] [-1.48865941e-02 -9.80302369e-05 9.99889184e-01 -1.52447171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58439141799998 meters 0.015563383982899805 Centerline is valid? [True, True] Translation: X:71.20, Y:0.64, Z:-1.53 [[ 9.98892978e-01 4.56256308e-02 1.14507548e-02 7.11967857e+01] [-4.56228301e-02 9.98958609e-01 -5.05817382e-04 6.36875648e-01] [-1.14619083e-02 -1.71584090e-05 9.99934310e-01 -1.52813172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64439141799998 meters 0.015458712018886675 Centerline is valid? [True, True] Translation: X:71.25, Y:0.63, Z:-1.53 [[ 9.99077357e-01 4.16820412e-02 1.03460961e-02 7.12538392e+01] [-4.16795463e-02 9.99130926e-01 -4.56738319e-04 6.28705552e-01] [-1.03561423e-02 2.50963224e-05 9.99946373e-01 -1.53150427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70439141799999 meters 0.015964326727221857 Centerline is valid? [True, True] Translation: X:71.31, Y:0.62, Z:-1.53 [[ 9.99158303e-01 3.85832794e-02 1.39289764e-02 7.13126171e+01] [-3.85784939e-02 9.99255385e-01 -6.12194358e-04 6.21491678e-01] [-1.39422251e-02 7.43201456e-05 9.99902800e-01 -1.52900022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76439141799999 meters 0.016810397201974813 Centerline is valid? [True, True] Translation: X:71.37, Y:0.61, Z:-1.53 [[ 9.99280051e-01 3.46262929e-02 1.55048247e-02 7.13697085e+01] [-3.46199066e-02 9.99400320e-01 -6.80182079e-04 6.13420549e-01] [-1.55190789e-02 1.42916799e-04 9.99879562e-01 -1.52908351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82439141799999 meters 0.01840769494588416 Centerline is valid? [True, True] Translation: X:71.43, Y:0.60, Z:-1.53 [[ 9.99591139e-01 2.40442731e-02 1.54734713e-02 7.14292940e+01] [-2.40366799e-02 9.99710848e-01 -6.76541351e-04 5.97524536e-01] [-1.54852641e-02 3.04333863e-04 9.99880050e-01 -1.53155196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88439141799999 meters 0.02188861255571669 Centerline is valid? [True, True] Translation: X:71.49, Y:0.58, Z:-1.53 [[ 9.99701814e-01 1.58407194e-02 1.85837080e-02 7.14896593e+01] [-1.58283632e-02 9.99874394e-01 -8.11805156e-04 5.83684700e-01] [-1.85942334e-02 5.17413408e-04 9.99826978e-01 -1.52979782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94439141799998 meters 0.02641123989217208 Centerline is valid? [True, True] Translation: X:71.55, Y:0.57, Z:-1.53 [[ 9.99778786e-01 7.60775221e-03 1.96086927e-02 7.15499283e+01] [-7.59238858e-03 9.99970809e-01 -8.57838577e-04 5.71350702e-01] [-1.96146465e-02 7.08771997e-04 9.99807363e-01 -1.52911874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00439141799998 meters 0.02841161359421114 Centerline is valid? [True, True] Translation: X:71.61, Y:0.56, Z:-1.54 [[ 9.99875619e-01 3.24127967e-03 1.54350628e-02 7.16108604e+01] [-3.23124306e-03 9.99994552e-01 -6.75141282e-04 5.62212658e-01] [-1.54371670e-02 6.25182867e-04 9.99880644e-01 -1.53831475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06439141799999 meters 0.030643627772896406 Centerline is valid? [True, True] Translation: X:71.67, Y:0.56, Z:-1.54 [[ 9.99794192e-01 1.15205569e-03 2.02545196e-02 7.16728324e+01] [-1.13433019e-03 9.99998964e-01 -8.86604946e-04 5.55259925e-01] [-2.02555200e-02 8.63447163e-04 9.99794463e-01 -1.53518056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12439141799999 meters 0.031468835913388955 Centerline is valid? [True, True] Translation: X:71.74, Y:0.55, Z:-1.53 [[ 9.99775133e-01 -1.31705243e-03 2.11647893e-02 7.17353406e+01] [ 1.33709102e-03 9.99998671e-01 -9.32666000e-04 5.54112741e-01] [-2.11635328e-02 9.60755524e-04 9.99775566e-01 -1.53459559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18439141799999 meters 0.0353623184351349 Centerline is valid? [True, True] Translation: X:71.79, Y:0.54, Z:-1.54 [[ 9.99841294e-01 -7.33163736e-03 1.62368254e-02 7.17946435e+01] [ 7.34424119e-03 9.99972774e-01 -7.16757577e-04 5.43387335e-01] [-1.62311283e-02 8.35890985e-04 9.99867917e-01 -1.54417625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24439141799999 meters 0.039231281318079805 Centerline is valid? [True, True] Translation: X:71.86, Y:0.54, Z:-1.54 [[ 9.99766789e-01 -9.06818008e-03 1.95993718e-02 7.18559688e+01] [ 9.08688541e-03 9.99958339e-01 -8.65535838e-04 5.35219056e-01] [-1.95907064e-02 1.04343123e-03 9.99807539e-01 -1.54185488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30439141799998 meters 0.03601917399346206 Centerline is valid? [True, True] Translation: X:71.92, Y:0.54, Z:-1.54 [[ 9.99794093e-01 -5.44999010e-03 1.95465832e-02 7.19172638e+01] [ 5.46792910e-03 9.99984677e-01 -8.64428338e-04 5.42693395e-01] [-1.95415725e-02 9.71129677e-04 9.99808574e-01 -1.53947726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36439141799998 meters 0.028147293579872164 Centerline is valid? [True, True] Translation: X:71.98, Y:0.56, Z:-1.55 [[ 9.99901435e-01 2.59820631e-03 1.37974450e-02 7.19783748e+01] [-2.59002927e-03 9.99996460e-01 -6.10484708e-04 5.56404938e-01] [-1.37989824e-02 5.74688749e-04 9.99904624e-01 -1.54648482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42439141799998 meters 0.030037246975818083 Centerline is valid? [True, True] Translation: X:72.04, Y:0.55, Z:-1.55 [[ 9.99884293e-01 7.08337517e-03 1.34620486e-02 7.20385686e+01] [-7.07599870e-03 9.99974787e-01 -5.95498326e-04 5.51006809e-01] [-1.34659273e-02 5.00171985e-04 9.99909205e-01 -1.55189504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48439141799999 meters 0.02175024935918766 Centerline is valid? [True, True] Translation: X:72.10, Y:0.57, Z:-1.54 [[ 9.99722984e-01 1.60457939e-02 1.72188421e-02 7.20997528e+01] [-1.60350437e-02 9.99871140e-01 -7.62215248e-04 5.68972835e-01] [-1.72288537e-02 4.85899216e-04 9.99851454e-01 -1.54398403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54439141799999 meters 0.01871630230547128 Centerline is valid? [True, True] Translation: X:72.16, Y:0.58, Z:-1.55 [[ 9.99573920e-01 2.40864699e-02 1.64869790e-02 7.21606189e+01] [-2.40777048e-02 9.99709824e-01 -7.29956585e-04 5.77090783e-01] [-1.64997769e-02 3.32676950e-04 9.99863814e-01 -1.54561734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60439141799999 meters 0.018364419805427256 Centerline is valid? [True, True] Translation: X:72.22, Y:0.58, Z:-1.55 [[ 9.99182921e-01 3.53542140e-02 1.95849319e-02 7.22202511e+01] [-3.53440071e-02 9.99374829e-01 -8.67165920e-04 5.79122104e-01] [-1.96033460e-02 1.74247404e-04 9.99807821e-01 -1.54951878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66439141799998 meters 0.015214742173893183 Centerline is valid? [True, True] Translation: X:72.28, Y:0.59, Z:-1.54 [[ 9.98806371e-01 4.32508426e-02 2.26979849e-02 7.22791810e+01] [-4.32391831e-02 9.99064244e-01 -1.00444443e-03 5.86892859e-01] [-2.27201882e-02 2.18031743e-05 9.99741863e-01 -1.54280907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72439141799998 meters 0.015155440106486104 Centerline is valid? [True, True] Translation: X:72.34, Y:0.59, Z:-1.55 [[ 9.98869926e-01 4.50794386e-02 1.50570637e-02 7.23375049e+01] [-4.50745233e-02 9.98983405e-01 -6.65822648e-04 5.90059147e-01] [-1.50717716e-02 -1.36197478e-05 9.99886414e-01 -1.54873897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78439141799998 meters 0.015372523926875456 Centerline is valid? [True, True] Translation: X:72.40, Y:0.58, Z:-1.56 [[ 9.99123052e-01 4.03457352e-02 1.11958845e-02 7.23956925e+01] [-4.03427291e-02 9.99185778e-01 -4.94308783e-04 5.79108689e-01] [-1.12067118e-02 4.22027636e-05 9.99937202e-01 -1.55919387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84439141799999 meters 0.017591544640847594 Centerline is valid? [True, True] Translation: X:72.45, Y:0.57, Z:-1.55 [[ 9.99405017e-01 2.78596597e-02 2.03335255e-02 7.24541681e+01] [-2.78472199e-02 9.99611791e-01 -8.94734129e-04 5.65079039e-01] [-2.03505588e-02 3.27969621e-04 9.99792852e-01 -1.54981117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90439141799999 meters 0.01987001201368684 Centerline is valid? [True, True] Translation: X:72.52, Y:0.56, Z:-1.55 [[ 9.99526784e-01 2.14894795e-02 2.20093035e-02 7.25152698e+01] [-2.14734024e-02 9.99768953e-01 -9.66569205e-04 5.59896365e-01] [-2.20249894e-02 4.93497177e-04 9.99757299e-01 -1.54606199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96439141799999 meters 0.024510964491061594 Centerline is valid? [True, True] Translation: X:72.57, Y:0.54, Z:-1.56 [[ 9.99862151e-01 1.16300466e-02 1.18499166e-02 7.25739480e+01] [-1.16246873e-02 9.99932295e-01 -5.21043174e-04 5.43627962e-01] [-1.18551740e-02 3.83219774e-04 9.99929652e-01 -1.56238007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02439141799998 meters 0.02982265416407368 Centerline is valid? [True, True] Translation: X:72.63, Y:0.53, Z:-1.56 [[ 9.99902563e-01 3.24272036e-03 1.35775342e-02 7.26342011e+01] [-3.23491821e-03 9.99994590e-01 -5.96559453e-04 5.28435955e-01] [-1.35793952e-02 5.52579114e-04 9.99907643e-01 -1.56483937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08439141799998 meters 0.028338078465761835 Centerline is valid? [True, True] Translation: X:72.70, Y:0.53, Z:-1.56 [[ 9.99882918e-01 2.82201020e-03 1.50394831e-02 7.26963819e+01] [-2.81241774e-03 9.99995828e-01 -6.58930099e-04 5.31433804e-01] [-1.50412798e-02 6.16555641e-04 9.99886683e-01 -1.56165252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14439141799998 meters 0.027231627561335858 Centerline is valid? [True, True] Translation: X:72.76, Y:0.53, Z:-1.57 [[ 9.99880485e-01 6.73100718e-03 1.39179169e-02 7.27565954e+01] [-6.72309316e-03 9.99977210e-01 -6.15331971e-04 5.32712024e-01] [-1.39217416e-02 5.21686977e-04 9.99902952e-01 -1.56579127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20439141799999 meters 0.022446942498410043 Centerline is valid? [True, True] Translation: X:72.82, Y:0.54, Z:-1.56 [[ 9.99696648e-01 1.51164287e-02 1.94449392e-02 7.28178201e+01] [-1.51025522e-02 9.99885580e-01 -8.60293827e-04 5.38309170e-01] [-1.94557188e-02 5.66364647e-04 9.99810559e-01 -1.56060503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26439141799999 meters 0.018843525340191774 Centerline is valid? [True, True] Translation: X:72.88, Y:0.55, Z:-1.56 [[ 9.99490691e-01 2.41457010e-02 2.08649061e-02 7.28792590e+01] [-2.41316876e-02 9.99708362e-01 -9.23182437e-04 5.48293277e-01] [-2.08811119e-02 4.19206857e-04 9.99781878e-01 -1.55538962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32439141799999 meters 0.01578918882401981 Centerline is valid? [True, True] Translation: X:72.94, Y:0.56, Z:-1.56 [[ 9.99302280e-01 3.48944464e-02 1.33165609e-02 7.29412095e+01] [-3.48896936e-02 9.99390996e-01 -5.89129300e-04 5.60879950e-01] [-1.33290084e-02 1.24107523e-04 9.99911157e-01 -1.56257498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38439141799999 meters 0.015377178844752551 Centerline is valid? [True, True] Translation: X:73.00, Y:0.56, Z:-1.57 [[ 9.99226958e-01 3.78746892e-02 1.05353912e-02 7.29998637e+01] [-3.78718631e-02 9.99282494e-01 -4.67698686e-04 5.57447050e-01] [-1.05455460e-02 6.83422412e-05 9.99944392e-01 -1.57047802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44439141799998 meters 0.01519163738291676 Centerline is valid? [True, True] Translation: X:73.06, Y:0.56, Z:-1.57 [[ 9.99190521e-01 3.80296756e-02 1.31166124e-02 7.30575121e+01] [-3.80253254e-02 9.99276607e-01 -5.80981396e-04 5.55445596e-01] [-1.31292185e-02 8.17476480e-05 9.99913805e-01 -1.57147452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50439141799998 meters 0.015118724932751414 Centerline is valid? [True, True] Translation: X:73.12, Y:0.56, Z:-1.57 [[ 9.99193424e-01 3.75326324e-02 1.42759571e-02 7.31163062e+01] [-3.75274531e-02 9.99295398e-01 -6.30601553e-04 5.56568386e-01] [-1.42895663e-02 9.43526158e-05 9.99897894e-01 -1.56774146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56439141799999 meters 0.015713295146710514 Centerline is valid? [True, True] Translation: X:73.17, Y:0.55, Z:-1.57 [[ 9.99333278e-01 3.43927641e-02 1.22530639e-02 7.31744586e+01] [-3.43887214e-02 9.99408387e-01 -5.40536763e-04 5.49122086e-01] [-1.22644054e-02 1.18809175e-04 9.99924782e-01 -1.57051306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62439141799999 meters 0.016427664815502403 Centerline is valid? [True, True] Translation: X:73.23, Y:0.54, Z:-1.57 [[ 9.99426522e-01 3.19890387e-02 1.11053641e-02 7.32330478e+01] [-3.19855772e-02 9.99488211e-01 -4.89216685e-04 5.43129551e-01] [-1.11153300e-02 1.33724651e-04 9.99938214e-01 -1.57409861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68439141799999 meters 0.017463124907167987 Centerline is valid? [True, True] Translation: X:73.29, Y:0.54, Z:-1.58 [[ 9.99601037e-01 2.65492309e-02 9.63872800e-03 7.32922750e+01] [-2.65463795e-02 9.99647493e-01 -4.23662551e-04 5.35244875e-01] [-9.64657820e-03 1.67620194e-04 9.99953457e-01 -1.57694079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74439141799999 meters 0.017729535975046045 Centerline is valid? [True, True] Translation: X:73.35, Y:0.53, Z:-1.57 [[ 9.99569191e-01 2.45233370e-02 1.61256825e-02 7.33509490e+01] [-2.45151082e-02 9.99699209e-01 -7.07796483e-04 5.31322524e-01] [-1.61381896e-02 3.12168706e-04 9.99869722e-01 -1.56733444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80439141799998 meters 0.01557105406630549 Centerline is valid? [True, True] Translation: X:73.41, Y:0.54, Z:-1.57 [[ 9.99350503e-01 3.40311158e-02 1.18513820e-02 7.34113137e+01] [-3.40273493e-02 9.99420767e-01 -5.19370367e-04 5.37159858e-01] [-1.18621921e-02 1.15761921e-04 9.99929635e-01 -1.57210279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86439141799998 meters 0.01572306708803351 Centerline is valid? [True, True] Translation: X:73.47, Y:0.54, Z:-1.58 [[ 9.99104107e-01 4.05057250e-02 1.22584364e-02 7.34697199e+01] [-4.05021867e-02 9.99179306e-01 -5.36866068e-04 5.36148751e-01] [-1.22701221e-02 3.98916135e-05 9.99924718e-01 -1.57559868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92439141799998 meters 0.017393965651081065 Centerline is valid? [True, True] Translation: X:73.53, Y:0.54, Z:-1.57 [[ 9.98731227e-01 4.78940653e-02 1.55593964e-02 7.35279321e+01] [-4.78892859e-02 9.98852419e-01 -6.79821746e-04 5.37498134e-01] [-1.55741002e-02 -6.61691769e-05 9.99878714e-01 -1.57427979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98439141799999 meters 0.014825634382910062 Centerline is valid? [True, True] Translation: X:73.59, Y:0.54, Z:-1.57 [[ 9.98703756e-01 4.87017072e-02 1.47970202e-02 7.35872380e+01] [-4.86974957e-02 9.98813365e-01 -6.45009227e-04 5.35692413e-01] [-1.48108745e-02 -7.64046867e-05 9.99890310e-01 -1.57309811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04439141799999 meters 0.015088332297218583 Centerline is valid? [True, True] Translation: X:73.64, Y:0.52, Z:-1.58 [[ 9.98931712e-01 4.52719605e-02 9.26743279e-03 7.36438360e+01] [-4.52701572e-02 9.98974699e-01 -4.04366101e-04 5.24497671e-01] [-9.27623733e-03 -1.56040179e-05 9.99956975e-01 -1.58466841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10439141799999 meters 0.014945621217211756 Centerline is valid? [True, True] Translation: X:73.70, Y:0.51, Z:-1.58 [[ 9.99191230e-01 3.85211510e-02 1.15328921e-02 7.37017208e+01] [-3.85179360e-02 9.99257783e-01 -5.00844688e-04 5.10790712e-01] [-1.15436253e-02 5.62164200e-05 9.99933369e-01 -1.58448967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16439141799998 meters 0.015433853819859988 Centerline is valid? [True, True] Translation: X:73.76, Y:0.51, Z:-1.58 [[ 9.99394933e-01 3.31327871e-02 1.05823867e-02 7.37604155e+01] [-3.31297845e-02 9.99450953e-01 -4.58961476e-04 5.06240614e-01] [-1.05917831e-02 1.08091583e-04 9.99943900e-01 -1.58225951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22439141799998 meters 0.016688414966137263 Centerline is valid? [True, True] Translation: X:73.82, Y:0.50, Z:-1.59 [[ 9.99584653e-01 2.74383234e-02 8.81248622e-03 7.38198050e+01] [-2.74360284e-02 9.99623489e-01 -3.81241487e-04 4.96371229e-01] [-8.81962885e-03 1.39303517e-04 9.99961097e-01 -1.58632288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28439141799998 meters 0.019763606408913743 Centerline is valid? [True, True] Translation: X:73.88, Y:0.48, Z:-1.58 [[ 9.99666425e-01 1.88193715e-02 1.76881560e-02 7.38792369e+01] [-1.88088042e-02 9.99822807e-01 -7.63607431e-04 4.81161705e-01] [-1.76993924e-02 4.30659647e-04 9.99843261e-01 -1.57778715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34439141799999 meters 0.022635824526553848 Centerline is valid? [True, True] Translation: X:73.94, Y:0.48, Z:-1.58 [[ 9.99748085e-01 1.50963061e-02 1.66092842e-02 7.39402125e+01] [-1.50865011e-02 9.99885936e-01 -7.15474062e-04 4.77532844e-01] [-1.66181907e-02 4.64717838e-04 9.99861800e-01 -1.57669077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40439141799999 meters 0.02279594055392541 Centerline is valid? [True, True] Translation: X:74.00, Y:0.47, Z:-1.58 [[ 9.99845476e-01 1.26124896e-02 1.22453826e-02 7.40019771e+01] [-1.26069571e-02 9.99920389e-01 -5.28886641e-04 4.71242969e-01] [-1.22510783e-02 3.74427902e-04 9.99924883e-01 -1.58371223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46439141799999 meters 0.024389517687723593 Centerline is valid? [True, True] Translation: X:74.06, Y:0.47, Z:-1.58 [[ 9.99833212e-01 1.18091202e-02 1.39317116e-02 7.40641673e+01] [-1.18018844e-02 9.99930174e-01 -6.01481284e-04 4.65549895e-01] [-1.39378418e-02 4.36960514e-04 9.99902768e-01 -1.58383196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52439141799998 meters 0.022877446879082764 Centerline is valid? [True, True] Translation: X:74.13, Y:0.47, Z:-1.58 [[ 9.99799955e-01 1.52873533e-02 1.28975335e-02 7.41262697e+01] [-1.52814002e-02 9.99883076e-01 -5.59999726e-04 4.69852048e-01] [-1.29045864e-02 3.62795329e-04 9.99916667e-01 -1.58472491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58439141799998 meters 0.022092679376107743 Centerline is valid? [True, True] Translation: X:74.19, Y:0.47, Z:-1.59 [[ 9.99807101e-01 1.57472306e-02 1.17381939e-02 7.41886433e+01] [-1.57423005e-02 9.99875951e-01 -5.12285364e-04 4.67375948e-01] [-1.17448049e-02 3.27400368e-04 9.99930974e-01 -1.59070889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64439141799998 meters 0.02298469415007511 Centerline is valid? [True, True] Translation: X:74.25, Y:0.46, Z:-1.59 [[ 9.99780955e-01 1.41955853e-02 1.53794375e-02 7.42494632e+01] [-1.41868199e-02 9.99899132e-01 -6.78897139e-04 4.62453295e-01] [-1.53875236e-02 4.60563120e-04 9.99881499e-01 -1.58835965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70439141799999 meters 0.021847091281445536 Centerline is valid? [True, True] Translation: X:74.31, Y:0.47, Z:-1.59 [[ 9.99797744e-01 1.73382351e-02 1.01910271e-02 7.43112884e+01] [-1.73345750e-02 9.99849645e-01 -4.47375280e-04 4.69327462e-01] [-1.01972515e-02 2.70627673e-04 9.99947970e-01 -1.58910648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76439141799999 meters 0.021049582071912272 Centerline is valid? [True, True] Translation: X:74.37, Y:0.47, Z:-1.60 [[ 9.99785488e-01 2.03920868e-02 3.62507457e-03 7.43716947e+01] [-2.03916364e-02 9.99792056e-01 -1.61177834e-04 4.71473099e-01] [-3.62760751e-03 8.72220564e-05 9.99993416e-01 -1.60006248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82439141799999 meters 0.02088445966304076 Centerline is valid? [True, True] Translation: X:74.43, Y:0.47, Z:-1.59 [[ 9.99706175e-01 2.07822332e-02 1.24764485e-02 7.44320269e+01] [-2.07769252e-02 9.99783982e-01 -5.54919725e-04 4.68893306e-01] [-1.24852858e-02 2.95534440e-04 9.99922012e-01 -1.59451744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88439141799999 meters 0.018923758227477758 Centerline is valid? [True, True] Translation: X:74.49, Y:0.48, Z:-1.58 [[ 9.99624190e-01 2.16452870e-02 1.68214084e-02 7.44930421e+01] [-2.16357699e-02 9.99765640e-01 -7.47573047e-04 4.77050834e-01] [-1.68336476e-02 3.83347980e-04 9.99858231e-01 -1.58375588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94439141799998 meters 0.021011799303226157 Centerline is valid? [True, True] Translation: X:74.55, Y:0.48, Z:-1.59 [[ 9.99694335e-01 2.11310314e-02 1.28341763e-02 7.45539488e+01] [-2.11254540e-02 9.99776670e-01 -5.70003678e-04 4.75316025e-01] [-1.28433548e-02 2.98701648e-04 9.99917476e-01 -1.59063075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00439141799998 meters 0.021576380648012934 Centerline is valid? [True, True] Translation: X:74.61, Y:0.47, Z:-1.59 [[ 9.99748552e-01 1.49739557e-02 1.66917331e-02 7.46139112e+01] [-1.49636444e-02 9.99887763e-01 -7.42481360e-04 4.65538563e-01] [-1.67009776e-02 4.92525506e-04 9.99860408e-01 -1.58885407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06439141799999 meters 0.02254183272768086 Centerline is valid? [True, True] Translation: X:74.68, Y:0.46, Z:-1.59 [[ 9.99824340e-01 1.25560445e-02 1.39152902e-02 7.46760465e+01] [-1.25486537e-02 9.99921071e-01 -6.18319986e-04 4.63468332e-01] [-1.39219555e-02 4.43593214e-04 9.99902986e-01 -1.59132830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12439141799999 meters 0.023080377259919217 Centerline is valid? [True, True] Translation: X:74.74, Y:0.46, Z:-1.60 [[ 9.99859525e-01 1.35907439e-02 9.80927667e-03 7.47369639e+01] [-1.35871398e-02 9.99907596e-01 -4.33968390e-04 4.61281724e-01] [-9.81426821e-03 3.00627415e-04 9.99951794e-01 -1.59931979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18439141799999 meters 0.021726342572713248 Centerline is valid? [True, True] Translation: X:74.80, Y:0.46, Z:-1.60 [[ 9.99808969e-01 1.58660837e-02 1.14145797e-02 7.47982871e+01] [-1.58612780e-02 9.99874071e-01 -5.11418900e-04 4.63702357e-01] [-1.14212565e-02 3.30271382e-04 9.99934721e-01 -1.59874821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24439141799999 meters 0.01860914921563725 Centerline is valid? [True, True] Translation: X:74.86, Y:0.47, Z:-1.60 [[ 9.99696241e-01 2.10562107e-02 1.28086283e-02 7.48591071e+01] [-2.10505789e-02 9.99778247e-01 -5.74366400e-04 4.71592385e-01] [-1.28178820e-02 3.04562890e-04 9.99917801e-01 -1.59922514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30439141799998 meters 0.019169690007468303 Centerline is valid? [True, True] Translation: X:74.92, Y:0.47, Z:-1.60 [[ 9.99698090e-01 2.04274646e-02 1.36545773e-02 7.49186680e+01] [-2.04210033e-02 9.99791282e-01 -6.12469885e-04 4.66393380e-01] [-1.36642385e-02 3.33444808e-04 9.99906584e-01 -1.60171354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36439141799998 meters 0.02038132557000496 Centerline is valid? [True, True] Translation: X:74.98, Y:0.46, Z:-1.60 [[ 9.99720454e-01 1.80122523e-02 1.53157553e-02 7.49790099e+01] [-1.80038475e-02 9.99837682e-01 -6.86481635e-04 4.63374381e-01] [-1.53256343e-02 4.10547210e-04 9.99882471e-01 -1.59756742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42439141799998 meters 0.019849965789995903 Centerline is valid? [True, True] Translation: X:75.04, Y:0.47, Z:-1.60 [[ 9.99742371e-01 2.03427018e-02 1.00681030e-02 7.50410116e+01] [-2.03391929e-02 9.99793036e-01 -4.50798549e-04 4.69498069e-01] [-1.00751897e-02 2.45905321e-04 9.99949214e-01 -1.60081466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48439141799999 meters 0.019881930289800533 Centerline is valid? [True, True] Translation: X:75.10, Y:0.47, Z:-1.61 [[ 9.99758743e-01 2.05134917e-02 7.85188264e-03 7.51009244e+01] [-2.05113531e-02 9.99789558e-01 -3.52807718e-04 4.66706962e-01] [-7.85746759e-03 1.91669864e-04 9.99969111e-01 -1.60698878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54439141799999 meters 0.0222442588948963 Centerline is valid? [True, True] Translation: X:75.16, Y:0.46, Z:-1.61 [[ 9.99748652e-01 1.84449352e-02 1.27443250e-02 7.51595654e+01] [-1.84391418e-02 9.99829821e-01 -5.71954653e-04 4.55489719e-01] [-1.27527059e-02 3.36816477e-04 9.99918624e-01 -1.61055094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60439141799999 meters 0.019460380009106767 Centerline is valid? [True, True] Translation: X:75.22, Y:0.46, Z:-1.60 [[ 9.99645884e-01 1.94563955e-02 1.81536317e-02 7.52202265e+01] [-1.94448508e-02 9.99810601e-01 -8.12255263e-04 4.58165876e-01] [-1.81659969e-02 4.58972973e-04 9.99834879e-01 -1.60058531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66439141799998 meters 0.017545819741047606 Centerline is valid? [True, True] Translation: X:75.28, Y:0.47, Z:-1.60 [[ 9.99574188e-01 2.64187139e-02 1.23892501e-02 7.52821180e+01] [-2.64138766e-02 9.99650939e-01 -5.53938296e-04 4.68231690e-01] [-1.23995598e-02 2.26454299e-04 9.99923097e-01 -1.60194085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72439141799998 meters 0.016955821690886486 Centerline is valid? [True, True] Translation: X:75.34, Y:0.46, Z:-1.61 [[ 9.99579005e-01 2.76562343e-02 8.77187835e-03 7.53407006e+01] [-2.76538444e-02 9.99617482e-01 -3.93648010e-04 4.61419992e-01] [-8.77940976e-03 1.50906127e-04 9.99961449e-01 -1.61369562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78439141799998 meters 0.01662432084016307 Centerline is valid? [True, True] Translation: X:75.40, Y:0.46, Z:-1.61 [[ 9.99506644e-01 2.79490145e-02 1.43290423e-02 7.53993968e+01] [-2.79426894e-02 9.99609321e-01 -6.41474559e-04 4.58448698e-01] [-1.43413728e-02 2.40766106e-04 9.99897128e-01 -1.60922915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84439141799999 meters 0.015629231568706336 Centerline is valid? [True, True] Translation: X:75.46, Y:0.46, Z:-1.61 [[ 9.99413536e-01 3.10998794e-02 1.43311687e-02 7.54583773e+01] [-3.10938927e-02 9.99516263e-01 -6.40418989e-04 4.62694810e-01] [-1.43441531e-02 1.94431586e-04 9.99897098e-01 -1.60702162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90439141799999 meters 0.016988114207757254 Centerline is valid? [True, True] Translation: X:75.52, Y:0.46, Z:-1.61 [[ 9.99473632e-01 3.04911474e-02 1.10792387e-02 7.55171416e+01] [-3.04875376e-02 9.99535025e-01 -4.94607043e-04 4.56557490e-01] [-1.10891682e-02 1.56567993e-04 9.99938501e-01 -1.61445474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96439141799999 meters 0.017375868590943314 Centerline is valid? [True, True] Translation: X:75.58, Y:0.45, Z:-1.61 [[ 9.99591311e-01 2.52395534e-02 1.34229885e-02 7.55756847e+01] [-2.52338005e-02 9.99681398e-01 -5.97805706e-04 4.51184739e-01] [-1.34338003e-02 2.58848374e-04 9.99909729e-01 -1.61140263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02439141799998 meters 0.020456840329614916 Centerline is valid? [True, True] Translation: X:75.63, Y:0.44, Z:-1.62 [[ 9.99761076e-01 1.86515049e-02 1.13978696e-02 7.56343224e+01] [-1.86469415e-02 9.99826002e-01 -5.06530545e-04 4.42882939e-01] [-1.14053340e-02 2.93874116e-04 9.99934914e-01 -1.61649158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08439141799998 meters 0.02721005720134303 Centerline is valid? [True, True] Translation: X:75.69, Y:0.42, Z:-1.62 [[ 9.99894751e-01 4.19704411e-03 1.38878607e-02 7.56939659e+01] [-4.18889573e-03 9.99991037e-01 -6.15763650e-04 4.22659411e-01] [-1.38903206e-02 5.57524041e-04 9.99903369e-01 -1.61919680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14439141799998 meters 0.034644966888990485 Centerline is valid? [True, True] Translation: X:75.75, Y:0.42, Z:-1.61 [[ 9.99811018e-01 -7.61433704e-03 1.78871593e-02 7.57548733e+01] [ 7.62976235e-03 9.99970577e-01 -7.94282597e-04 4.15030480e-01] [-1.78805851e-02 9.30607266e-04 9.99839696e-01 -1.61077496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20439141799999 meters 0.03680225095520522 Centerline is valid? [True, True] Translation: X:75.82, Y:0.41, Z:-1.62 [[ 9.99801782e-01 -1.33068138e-02 1.48096152e-02 7.58155208e+01] [ 1.33180141e-02 9.99911095e-01 -6.57912499e-04 4.08341172e-01] [-1.47995439e-02 8.55016753e-04 9.99890115e-01 -1.61729511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26439141799999 meters 0.043492599442933974 Centerline is valid? [True, True] Translation: X:75.87, Y:0.39, Z:-1.62 [[ 9.99645639e-01 -2.13909116e-02 1.58437963e-02 7.58742473e+01] [ 2.14047453e-02 9.99770644e-01 -7.04052783e-04 3.92241804e-01] [-1.58251021e-02 1.04293572e-03 9.99874231e-01 -1.62120327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32439141799999 meters 0.03912148820208467 Centerline is valid? [True, True] Translation: X:75.94, Y:0.40, Z:-1.62 [[ 9.99642349e-01 -2.05959976e-02 1.70581316e-02 7.59376781e+01] [ 2.06119018e-02 9.99787266e-01 -7.57042649e-04 4.02990813e-01] [-1.70389107e-02 1.10837242e-03 9.99854213e-01 -1.61641183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38439141799998 meters 0.041771534326264105 Centerline is valid? [True, True] Translation: X:76.00, Y:0.40, Z:-1.63 [[ 9.99833659e-01 -1.31588919e-02 1.26292791e-02 7.59976502e+01] [ 1.31670393e-02 9.99913153e-01 -5.62187444e-04 4.03565417e-01] [-1.26207845e-02 7.28384144e-04 9.99920089e-01 -1.62595071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44439141799998 meters 0.03365695417847601 Centerline is valid? [True, True] Translation: X:76.06, Y:0.41, Z:-1.63 [[ 9.99825522e-01 -9.31680720e-03 1.61902219e-02 7.60588319e+01] [ 9.32969279e-03 9.99956218e-01 -7.20537819e-04 4.13128677e-01] [-1.61828000e-02 8.71461897e-04 9.99868670e-01 -1.62561957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50439141799998 meters 0.03150493613860322 Centerline is valid? [True, True] Translation: X:76.12, Y:0.42, Z:-1.62 [[ 9.99771021e-01 -4.77363962e-03 2.08594905e-02 7.61192314e+01] [ 4.79405745e-03 9.99988077e-01 -9.28929657e-04 4.20667109e-01] [-2.08548074e-02 1.02871855e-03 9.99781986e-01 -1.61630766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56439141799999 meters 0.02996142425224545 Centerline is valid? [True, True] Translation: X:76.18, Y:0.43, Z:-1.63 [[ 9.99908749e-01 -1.56874746e-04 1.35081248e-02 7.61798562e+01] [ 1.65011104e-04 9.99999806e-01 -6.01218304e-04 4.25352697e-01] [-1.35080279e-02 6.03392432e-04 9.99908580e-01 -1.62504174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62439141799999 meters 0.0255140760232921 Centerline is valid? [True, True] Translation: X:76.24, Y:0.44, Z:-1.63 [[ 9.99921666e-01 6.01715867e-03 1.09752281e-02 7.62406719e+01] [-6.01215120e-03 9.99981807e-01 -4.89188370e-04 4.35720792e-01] [-1.09779720e-02 4.23165319e-04 9.99939651e-01 -1.62929599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68439141799999 meters 0.02279562006845606 Centerline is valid? [True, True] Translation: X:76.30, Y:0.44, Z:-1.63 [[ 9.99811924e-01 1.29841199e-02 1.44058833e-02 7.63015520e+01] [-1.29762159e-02 9.99915599e-01 -6.42004414e-04 4.43587627e-01] [-1.44130033e-02 4.54949816e-04 9.99896024e-01 -1.62794359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74439141799999 meters 0.019603950146407416 Centerline is valid? [True, True] Translation: X:76.36, Y:0.45, Z:-1.63 [[ 9.99602433e-01 2.03191015e-02 1.95476132e-02 7.63627350e+01] [-2.03059422e-02 9.99793433e-01 -8.71460706e-04 4.49901792e-01] [-1.95612826e-02 4.74181538e-04 9.99808547e-01 -1.62623508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80439141799998 meters 0.020211826557564788 Centerline is valid? [True, True] Translation: X:76.42, Y:0.45, Z:-1.63 [[ 9.99550657e-01 2.36444921e-02 1.84234201e-02 7.64246376e+01] [-2.36333621e-02 9.99720355e-01 -8.21639560e-04 4.50545974e-01] [-1.84376953e-02 3.85863003e-04 9.99829937e-01 -1.62852638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86439141799998 meters 0.016667352974329166 Centerline is valid? [True, True] Translation: X:76.49, Y:0.46, Z:-1.63 [[ 9.99460916e-01 2.98520860e-02 1.36649018e-02 7.64855845e+01] [-2.98465301e-02 9.99554307e-01 -6.10379841e-04 4.60342843e-01] [-1.36770326e-02 2.02200893e-04 9.99906445e-01 -1.63104870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92439141799998 meters 0.015594945215946992 Centerline is valid? [True, True] Translation: X:76.54, Y:0.46, Z:-1.64 [[ 9.99341464e-01 3.35501742e-02 1.38211619e-02 7.65444446e+01] [-3.35448353e-02 9.99437023e-01 -6.17997810e-04 4.61084984e-01] [-1.38341148e-02 1.53962238e-04 9.99904292e-01 -1.63502371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98439141799999 meters 0.015513325953238054 Centerline is valid? [True, True] Translation: X:76.60, Y:0.46, Z:-1.63 [[ 9.99274680e-01 3.37819170e-02 1.75754600e-02 7.66036847e+01] [-3.37733480e-02 9.99429210e-01 -7.84227948e-04 4.57543207e-01] [-1.75919208e-02 1.90077006e-04 9.99845232e-01 -1.63338565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04439141799999 meters 0.0161730799694675 Centerline is valid? [True, True] Translation: X:76.66, Y:0.46, Z:-1.63 [[ 9.99276713e-01 3.36608297e-02 1.76917616e-02 7.66630383e+01] [-3.36521692e-02 9.99433295e-01 -7.87084456e-04 4.58172150e-01] [-1.77082295e-02 1.91149013e-04 9.99843179e-01 -1.63237941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10439141799999 meters 0.017094223970208836 Centerline is valid? [True, True] Translation: X:76.72, Y:0.45, Z:-1.64 [[ 9.99491030e-01 2.75897648e-02 1.60151585e-02 7.67216520e+01] [-2.75819090e-02 9.99619294e-01 -7.11234241e-04 4.49983018e-01] [-1.60286842e-02 2.69143601e-04 9.99871496e-01 -1.63633652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16439141799998 meters 0.021067849914762623 Centerline is valid? [True, True] Translation: X:76.78, Y:0.44, Z:-1.64 [[ 9.99633959e-01 2.28427036e-02 1.44968907e-02 7.67807049e+01] [-2.28357809e-02 9.99739023e-01 -6.42906640e-04 4.39071925e-01] [-1.45077931e-02 3.11623490e-04 9.99894708e-01 -1.64185451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22439141799998 meters 0.022893424333126296 Centerline is valid? [True, True] Translation: X:76.84, Y:0.43, Z:-1.64 [[ 9.99783483e-01 1.36527624e-02 1.57031793e-02 7.68408127e+01] [-1.36435213e-02 9.99906681e-01 -6.95474747e-04 4.25755132e-01] [-1.57112091e-02 4.81077504e-04 9.99876456e-01 -1.64213640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28439141799998 meters 0.02379385101873183 Centerline is valid? [True, True] Translation: X:76.90, Y:0.43, Z:-1.64 [[ 9.99788807e-01 1.14591522e-02 1.70595652e-02 7.69036525e+01] [-1.14479501e-02 9.99934186e-01 -7.54165014e-04 4.26156575e-01] [-1.70670846e-02 5.58708689e-04 9.99854191e-01 -1.63566631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34439141799999 meters 0.024026920847616515 Centerline is valid? [True, True] Translation: X:76.97, Y:0.43, Z:-1.64 [[ 9.99810159e-01 1.34055943e-02 1.41398515e-02 7.69663833e+01] [-1.33980323e-02 9.99910044e-01 -6.29398948e-04 4.25847818e-01] [-1.41470170e-02 4.39833276e-04 9.99899829e-01 -1.64003620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40439141799999 meters 0.022101979637043186 Centerline is valid? [True, True] Translation: X:77.03, Y:0.42, Z:-1.65 [[ 9.99831320e-01 1.35886546e-02 1.23564074e-02 7.70288183e+01] [-1.35829046e-02 9.99907597e-01 -5.49152434e-04 4.21494301e-01] [-1.23627278e-02 3.81223900e-04 9.99923506e-01 -1.64715308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46439141799999 meters 0.024517770895262928 Centerline is valid? [True, True] Translation: X:77.09, Y:0.41, Z:-1.65 [[ 9.99814108e-01 1.22398581e-02 1.48974740e-02 7.70897478e+01] [-1.22312421e-02 9.99924972e-01 -6.69336559e-04 4.13369871e-01] [-1.49045488e-02 4.86997525e-04 9.99888802e-01 -1.64794677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52439141799998 meters 0.0248634474879072 Centerline is valid? [True, True] Translation: X:77.15, Y:0.41, Z:-1.64 [[ 9.99773279e-01 1.43819319e-02 1.57019365e-02 7.71517384e+01] [-1.43726367e-02 9.99896460e-01 -7.04668993e-04 4.13283747e-01] [-1.57104453e-02 4.78831000e-04 9.99876469e-01 -1.64448851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58439141799998 meters 0.01971440398680408 Centerline is valid? [True, True] Translation: X:77.21, Y:0.42, Z:-1.65 [[ 9.99702063e-01 2.16080166e-02 1.13524786e-02 7.72133853e+01] [-2.16035785e-02 9.99766484e-01 -5.13435657e-04 4.20080216e-01] [-1.13609219e-02 2.68028524e-04 9.99935427e-01 -1.64992956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64439141799998 meters 0.017933356936395778 Centerline is valid? [True, True] Translation: X:77.27, Y:0.42, Z:-1.65 [[ 9.99607691e-01 2.50927033e-02 1.24426765e-02 7.72726678e+01] [-2.50876227e-02 9.99685097e-01 -5.64267458e-04 4.17673775e-01] [-1.24529173e-02 2.51888916e-04 9.99922428e-01 -1.65319017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70439141799999 meters 0.017452681718372512 Centerline is valid? [True, True] Translation: X:77.33, Y:0.42, Z:-1.65 [[ 9.99533752e-01 2.65123106e-02 1.51451509e-02 7.73314159e+01] [-2.65049620e-02 9.99648447e-01 -6.85767795e-04 4.17979778e-01] [-1.51580078e-02 2.84026409e-04 9.99885070e-01 -1.64629991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76439141799999 meters 0.016945019543957263 Centerline is valid? [True, True] Translation: X:77.39, Y:0.42, Z:-1.65 [[ 9.99549233e-01 2.76167981e-02 1.17746778e-02 7.73902613e+01] [-2.76124395e-02 9.99618562e-01 -5.32604820e-04 4.18772674e-01] [-1.17848953e-02 2.07237162e-04 9.99930534e-01 -1.64744076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82439141799999 meters 0.016743362773068902 Centerline is valid? [True, True] Translation: X:77.45, Y:0.41, Z:-1.66 [[ 9.99560983e-01 2.84209359e-02 8.37208578e-03 7.74491275e+01] [-2.84187622e-02 9.99596034e-01 -3.78514955e-04 4.13754722e-01] [-8.37946149e-03 1.40424465e-04 9.99964882e-01 -1.65536178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88439141799998 meters 0.016458113615555867 Centerline is valid? [True, True] Translation: X:77.51, Y:0.41, Z:-1.66 [[ 9.99540798e-01 2.88547315e-02 9.25191340e-03 7.75074596e+01] [-2.88521040e-02 9.99583604e-01 -4.17369396e-04 4.08889142e-01] [-9.26010403e-03 1.50240571e-04 9.99957113e-01 -1.65873999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94439141799998 meters 0.01618856745668946 Centerline is valid? [True, True] Translation: X:77.57, Y:0.41, Z:-1.65 [[ 9.99443405e-01 2.81973194e-02 1.78266812e-02 7.75663105e+01] [-2.81875128e-02 9.99602332e-01 -8.01188072e-04 4.09692774e-01] [-1.78421835e-02 2.98252331e-04 9.99840771e-01 -1.64679816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00439141799998 meters 0.018158465399050354 Centerline is valid? [True, True] Translation: X:77.62, Y:0.40, Z:-1.65 [[ 9.99563257e-01 2.53485843e-02 1.51902882e-02 7.76248742e+01] [-2.53411543e-02 9.99678629e-01 -6.81441360e-04 4.01317199e-01] [-1.52026801e-02 2.96204308e-04 9.99884389e-01 -1.65006809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06439141799999 meters 0.019234981511934392 Centerline is valid? [True, True] Translation: X:77.68, Y:0.39, Z:-1.66 [[ 9.99767060e-01 1.90786772e-02 1.00910486e-02 7.76842999e+01] [-1.90750826e-02 9.99817952e-01 -4.52345965e-04 3.88055179e-01] [-1.00978417e-02 2.59753010e-04 9.99948982e-01 -1.66242910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12439141799999 meters 0.02018389551896745 Centerline is valid? [True, True] Translation: X:77.74, Y:0.38, Z:-1.66 [[ 9.99767061e-01 1.68751967e-02 1.34555582e-02 7.77437200e+01] [-1.68686094e-02 9.99857533e-01 -6.02911387e-04 3.83820893e-01] [-1.34638155e-02 3.75794390e-04 9.99909288e-01 -1.65906476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18439141799999 meters 0.018245616252792432 Centerline is valid? [True, True] Translation: X:77.80, Y:0.39, Z:-1.65 [[ 9.99614212e-01 2.23185184e-02 1.65321091e-02 7.78046993e+01] [-2.23093362e-02 9.99750842e-01 -7.39655599e-04 3.87152103e-01] [-1.65444980e-02 3.70549869e-04 9.99863062e-01 -1.65324724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24439141799999 meters 0.01765964536356668 Centerline is valid? [True, True] Translation: X:77.87, Y:0.39, Z:-1.66 [[ 9.99556298e-01 2.56946952e-02 1.50661545e-02 7.78654308e+01] [-2.56874526e-02 9.99669796e-01 -6.74067989e-04 3.87939926e-01] [-1.50784995e-02 2.86757775e-04 9.99886272e-01 -1.65533763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30439141799998 meters 0.018939869132074048 Centerline is valid? [True, True] Translation: X:77.92, Y:0.38, Z:-1.66 [[ 9.99640571e-01 2.13905603e-02 1.61608314e-02 7.79247886e+01] [-2.13816610e-02 9.99771125e-01 -7.23276795e-04 3.75188206e-01] [-1.61726039e-02 3.77471410e-04 9.99869144e-01 -1.65856889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36439141799998 meters 0.020157073375854914 Centerline is valid? [True, True] Translation: X:77.99, Y:0.37, Z:-1.66 [[ 9.99713919e-01 1.98076798e-02 1.34065444e-02 7.79851260e+01] [-1.98014231e-02 9.99803753e-01 -5.99285167e-04 3.66857195e-01] [-1.34157839e-02 3.33645065e-04 9.99909949e-01 -1.66306020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42439141799998 meters 0.018056848535663517 Centerline is valid? [True, True] Translation: X:78.05, Y:0.37, Z:-1.66 [[ 9.99652399e-01 2.31949166e-02 1.25329985e-02 7.80451182e+01] [-2.31897099e-02 9.99730925e-01 -5.60621017e-04 3.73277269e-01] [-1.25426297e-02 2.69789546e-04 9.99921302e-01 -1.66286019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48439141799999 meters 0.017987327949360393 Centerline is valid? [True, True] Translation: X:78.11, Y:0.37, Z:-1.67 [[ 9.99617771e-01 2.40378643e-02 1.36562628e-02 7.81050061e+01] [-2.40317697e-02 9.99711009e-01 -6.10228114e-04 3.68802092e-01] [-1.36669848e-02 2.81810705e-04 9.99906563e-01 -1.66535408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54439141799999 meters 0.01808963541988156 Centerline is valid? [True, True] Translation: X:78.16, Y:0.36, Z:-1.67 [[ 9.99584589e-01 2.26322289e-02 1.78446271e-02 7.81647179e+01] [-2.26216157e-02 9.99743781e-01 -7.96411364e-04 3.60266594e-01] [-1.78580795e-02 3.92406230e-04 9.99840455e-01 -1.66505235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60439141799999 meters 0.018731638189872016 Centerline is valid? [True, True] Translation: X:78.23, Y:0.36, Z:-1.66 [[ 9.99579801e-01 2.18476755e-02 1.90499308e-02 7.82251656e+01] [-2.18354559e-02 9.99761217e-01 -8.49241015e-04 3.58566683e-01] [-1.90639359e-02 4.32920242e-04 9.99818173e-01 -1.66339674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66439141799998 meters 0.018773204060740567 Centerline is valid? [True, True] Translation: X:78.29, Y:0.36, Z:-1.66 [[ 9.99617421e-01 2.11553995e-02 1.78174094e-02 7.82861702e+01] [-2.11446033e-02 9.99776112e-01 -7.94124888e-04 3.57040177e-01] [-1.78302203e-02 4.17079020e-04 9.99840942e-01 -1.66427459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72439141799998 meters 0.018474585974562967 Centerline is valid? [True, True] Translation: X:78.35, Y:0.35, Z:-1.68 [[ 9.99700693e-01 2.16261339e-02 1.14382887e-02 7.83468154e+01] [-2.16217140e-02 9.99766093e-01 -5.09947465e-04 3.51132774e-01] [-1.14466414e-02 2.62479428e-04 9.99934451e-01 -1.67624406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78439141799998 meters 0.018233580709437817 Centerline is valid? [True, True] Translation: X:78.41, Y:0.35, Z:-1.67 [[ 9.99598707e-01 2.33077057e-02 1.60989222e-02 7.84056349e+01] [-2.32991445e-02 9.99728279e-01 -7.19163861e-04 3.51673644e-01] [-1.61113099e-02 3.43784151e-04 9.99870145e-01 -1.67343488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84439141799999 meters 0.017239497842868157 Centerline is valid? [True, True] Translation: X:78.47, Y:0.35, Z:-1.67 [[ 9.99466291e-01 2.65073877e-02 1.90916809e-02 7.84652421e+01] [-2.64959426e-02 9.99648558e-01 -8.52227645e-04 3.54212394e-01] [-1.91075616e-02 3.45920724e-04 9.99817374e-01 -1.67146503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90439141799999 meters 0.017538669811027783 Centerline is valid? [True, True] Translation: X:78.53, Y:0.35, Z:-1.68 [[ 9.99494556e-01 2.60475878e-02 1.82251289e-02 7.85257419e+01] [-2.60370969e-02 9.99660647e-01 -8.12713085e-04 3.46887943e-01] [-1.82401133e-02 3.37772857e-04 9.99833578e-01 -1.67668519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96439141799999 meters 0.018643186220132068 Centerline is valid? [True, True] Translation: X:78.59, Y:0.34, Z:-1.67 [[ 9.99585209e-01 2.15346363e-02 1.91225096e-02 7.85860610e+01] [-2.15222613e-02 9.99768006e-01 -8.52729978e-04 3.42622081e-01] [-1.91364365e-02 4.40816625e-04 9.99816784e-01 -1.67358182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02439141799998 meters 0.019362752005702255 Centerline is valid? [True, True] Translation: X:78.65, Y:0.34, Z:-1.68 [[ 9.99670932e-01 2.04969679e-02 1.54240651e-02 7.86470986e+01] [-2.04887980e-02 9.99789846e-01 -6.87539665e-04 3.43099856e-01] [-1.54349162e-02 3.71292864e-04 9.99880806e-01 -1.67582118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08439141799998 meters 0.018980482866401388 Centerline is valid? [True, True] Translation: X:78.71, Y:0.34, Z:-1.69 [[ 9.99690216e-01 2.20139673e-02 1.16127987e-02 7.87074842e+01] [-2.20094308e-02 9.99757629e-01 -5.18316530e-04 3.39278000e-01] [-1.16213943e-02 2.62564874e-04 9.99932435e-01 -1.68563307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14439141799998 meters 0.01632238579213713 Centerline is valid? [True, True] Translation: X:78.77, Y:0.35, Z:-1.69 [[ 9.99442373e-01 2.99716946e-02 1.47186842e-02 7.87675852e+01] [-2.99652648e-02 9.99550725e-01 -6.57239275e-04 3.46379703e-01] [-1.47317700e-02 2.15823511e-04 9.99891458e-01 -1.68542180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20439141799999 meters 0.015051474422176669 Centerline is valid? [True, True] Translation: X:78.83, Y:0.35, Z:-1.68 [[ 9.99171023e-01 3.67384209e-02 1.75372708e-02 7.88270532e+01] [-3.67303465e-02 9.99324907e-01 -7.82399867e-04 3.53167470e-01] [-1.75541757e-02 1.37601241e-04 9.99845904e-01 -1.68301836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26439141799999 meters 0.014437457528589276 Centerline is valid? [True, True] Translation: X:78.89, Y:0.36, Z:-1.68 [[ 9.98787410e-01 4.31490349e-02 2.37038065e-02 7.88864218e+01] [-4.31361484e-02 9.99068646e-01 -1.05493623e-03 3.56579300e-01] [-2.37272493e-02 3.11661095e-05 9.99718469e-01 -1.67651063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32439141799999 meters 0.014241148031194893 Centerline is valid? [True, True] Translation: X:78.95, Y:0.35, Z:-1.68 [[ 9.98799680e-01 4.38042352e-02 2.19177666e-02 7.89455997e+01] [-4.37934113e-02 9.99040134e-01 -9.73813758e-04 3.53776001e-01] [-2.19393857e-02 1.27911003e-05 9.99759303e-01 -1.67902079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38439141799998 meters 0.014504446920516249 Centerline is valid? [True, True] Translation: X:79.00, Y:0.34, Z:-1.69 [[ 9.99166336e-01 3.88967689e-02 1.23965539e-02 7.90023892e+01] [-3.88929277e-02 9.99243232e-01 -5.50877032e-04 3.44921504e-01] [-1.24085999e-02 6.82795098e-05 9.99923008e-01 -1.69376712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44439141799998 meters 0.01573215834090996 Centerline is valid? [True, True] Translation: X:79.06, Y:0.34, Z:-1.69 [[ 9.99431806e-01 3.08683291e-02 1.35355567e-02 7.90613278e+01] [-3.08630418e-02 9.99523443e-01 -5.99384880e-04 3.37469948e-01] [-1.35476082e-02 1.81295862e-04 9.99908211e-01 -1.69452126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50439141799998 meters 0.017040371093820547 Centerline is valid? [True, True] Translation: X:79.12, Y:0.33, Z:-1.69 [[ 9.99447704e-01 2.82885219e-02 1.74369525e-02 7.91187869e+01] [-2.82793860e-02 9.99599761e-01 -7.70336397e-04 3.33441360e-01] [-1.74517652e-02 2.76804632e-04 9.99847668e-01 -1.69087099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56439141799999 meters 0.01912827541360081 Centerline is valid? [True, True] Translation: X:79.18, Y:0.33, Z:-1.69 [[ 9.99615962e-01 2.18176503e-02 1.70856499e-02 7.91780401e+01] [-2.18079668e-02 9.99761895e-01 -7.52894141e-04 3.27780177e-01] [-1.70980081e-02 3.80001714e-04 9.99853746e-01 -1.69322425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62439141799999 meters 0.022596824154580607 Centerline is valid? [True, True] Translation: X:79.24, Y:0.32, Z:-1.69 [[ 9.99722667e-01 1.44471850e-02 1.85975178e-02 7.92387532e+01] [-1.44344562e-02 9.99895483e-01 -8.18496994e-04 3.19249156e-01] [-1.86073991e-02 5.49824941e-04 9.99826716e-01 -1.69309451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68439141799999 meters 0.02656486084052944 Centerline is valid? [True, True] Translation: X:79.30, Y:0.31, Z:-1.69 [[ 9.99740005e-01 7.66308013e-03 2.14755636e-02 7.92986189e+01] [-7.64453146e-03 9.99970333e-01 -9.45673802e-04 3.11732083e-01] [-2.14821733e-02 7.81257310e-04 9.99768926e-01 -1.68923550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74439141799999 meters 0.02567172975506154 Centerline is valid? [True, True] Translation: X:79.36, Y:0.31, Z:-1.70 [[ 9.99822620e-01 9.39560488e-03 1.63233584e-02 7.93612006e+01] [-9.38513395e-03 9.99955701e-01 -7.17955675e-04 3.11800074e-01] [-1.63293809e-02 5.64631419e-04 9.99866507e-01 -1.69708458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80439141799998 meters 0.02493838693415808 Centerline is valid? [True, True] Translation: X:79.42, Y:0.31, Z:-1.70 [[ 9.99752845e-01 1.27499925e-02 1.82122388e-02 7.94216938e+01] [-1.27374488e-02 9.99918552e-01 -8.04586008e-04 3.13604709e-01] [-1.82210139e-02 5.72409691e-04 9.99833820e-01 -1.69745554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86439141799998 meters 0.020090673755716354 Centerline is valid? [True, True] Translation: X:79.48, Y:0.32, Z:-1.69 [[ 9.99519507e-01 2.26151501e-02 2.11969457e-02 7.94821842e+01] [-2.26003627e-02 9.99744140e-01 -9.36949931e-04 3.23857774e-01] [-2.12127115e-02 4.57441072e-04 9.99774880e-01 -1.69307084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92439141799998 meters 0.018321812947390406 Centerline is valid? [True, True] Translation: X:79.54, Y:0.32, Z:-1.70 [[ 9.99481130e-01 2.70706752e-02 1.74541922e-02 7.95437397e+01] [-2.70613351e-02 9.99633478e-01 -7.71128290e-04 3.24936677e-01] [-1.74686698e-02 2.98394430e-04 9.99847367e-01 -1.70293320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98439141799999 meters 0.019628511168014427 Centerline is valid? [True, True] Translation: X:79.60, Y:0.32, Z:-1.71 [[ 9.99544402e-01 2.48882301e-02 1.70752639e-02 7.96027949e+01] [-2.48789578e-02 9.99690186e-01 -7.55263171e-04 3.20418983e-01] [-1.70887709e-02 3.30104304e-04 9.99853922e-01 -1.70525683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04439141799999 meters 0.019820855400420584 Centerline is valid? [True, True] Translation: X:79.66, Y:0.32, Z:-1.71 [[ 9.99600326e-01 2.47280908e-02 1.37007437e-02 7.96623224e+01] [-2.47221068e-02 9.99694178e-01 -6.05979628e-04 3.20781918e-01] [-1.37115384e-02 2.67026185e-04 9.99905957e-01 -1.70554929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10439141799999 meters 0.016420785181646684 Centerline is valid? [True, True] Translation: X:79.72, Y:0.32, Z:-1.71 [[ 9.99558565e-01 2.79006053e-02 1.02093535e-02 7.97212005e+01] [-2.78974441e-02 9.99610688e-01 -4.51940089e-04 3.24705744e-01] [-1.02179883e-02 1.66925718e-04 9.99947781e-01 -1.71057952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16439141799998 meters 0.015998776065744198 Centerline is valid? [True, True] Translation: X:79.78, Y:0.32, Z:-1.71 [[ 9.99521315e-01 2.90528259e-02 1.06336382e-02 7.97800683e+01] [-2.90494719e-02 9.99577865e-01 -4.69771139e-04 3.23961861e-01] [-1.06427975e-02 1.60644693e-04 9.99943351e-01 -1.71296814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22439141799998 meters 0.015704940423636713 Centerline is valid? [True, True] Translation: X:79.84, Y:0.32, Z:-1.70 [[ 9.99383494e-01 3.03372751e-02 1.76714764e-02 7.98383161e+01] [-3.03282567e-02 9.99539690e-01 -7.78168447e-04 3.20996915e-01] [-1.76869495e-02 2.41743629e-04 9.99843544e-01 -1.70478668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28439141799998 meters 0.013830574388848603 Centerline is valid? [True, True] Translation: X:79.90, Y:0.33, Z:-1.70 [[ 9.99109663e-01 3.74733929e-02 1.93810579e-02 7.98980163e+01] [-3.74639302e-02 9.99297618e-01 -8.51225054e-04 3.26755994e-01] [-1.93993432e-02 1.24376579e-04 9.99811807e-01 -1.70096000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34439141799999 meters 0.014039475854244587 Centerline is valid? [True, True] Translation: X:79.96, Y:0.32, Z:-1.70 [[ 9.99183261e-01 3.59322541e-02 1.84847192e-02 7.99555008e+01] [-3.59234003e-02 9.99354217e-01 -8.10910504e-04 3.22379028e-01] [-1.85019199e-02 1.46214235e-04 9.99828814e-01 -1.70356292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40439141799999 meters 0.015444546426671188 Centerline is valid? [True, True] Translation: X:80.01, Y:0.31, Z:-1.71 [[ 9.99386185e-01 3.08792422e-02 1.65446725e-02 8.00135451e+01] [-3.08714829e-02 9.99523100e-01 -7.24240595e-04 3.10337142e-01] [-1.65591463e-02 2.13037471e-04 9.99862865e-01 -1.70850483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46439141799999 meters 0.015108296106425282 Centerline is valid? [True, True] Translation: X:80.07, Y:0.31, Z:-1.72 [[ 9.99409385e-01 3.22247693e-02 1.19350539e-02 8.00708222e+01] [-3.22208310e-02 9.99480638e-01 -5.22174337e-04 3.06728207e-01] [-1.19456822e-02 1.37308580e-04 9.99928638e-01 -1.71762022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52439141799998 meters 0.014889777198707224 Centerline is valid? [True, True] Translation: X:80.13, Y:0.31, Z:-1.71 [[ 9.99385148e-01 3.15512485e-02 1.52919741e-02 8.01296532e+01] [-3.15447385e-02 9.99502118e-01 -6.66795333e-04 3.07715373e-01] [-1.53053987e-02 1.84004030e-04 9.99882849e-01 -1.71495802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58439141799998 meters 0.017890289094721824 Centerline is valid? [True, True] Translation: X:80.19, Y:0.29, Z:-1.71 [[ 9.99485673e-01 2.45452098e-02 2.06378860e-02 8.01881365e+01] [-2.45319066e-02 9.99698645e-01 -8.97561420e-04 2.93758953e-01] [-2.06536974e-02 3.90813089e-04 9.99786613e-01 -1.71063908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64439141799998 meters 0.020331832373389522 Centerline is valid? [True, True] Translation: X:80.25, Y:0.28, Z:-1.72 [[ 9.99733528e-01 1.67660063e-02 1.58674056e-02 8.02481953e+01] [-1.67571852e-02 9.99859351e-01 -6.88723715e-04 2.79526097e-01] [-1.58767210e-02 4.22647135e-04 9.99873868e-01 -1.71889962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70439141799999 meters 0.02289351631204336 Centerline is valid? [True, True] Translation: X:80.31, Y:0.27, Z:-1.72 [[ 9.99861263e-01 1.06351387e-02 1.28198303e-02 8.03086979e+01] [-1.06288668e-02 9.99943357e-01 -5.57264042e-04 2.73965732e-01] [-1.28250307e-02 4.20926460e-04 9.99917667e-01 -1.72101178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76439141799999 meters 0.024473049078472628 Centerline is valid? [True, True] Translation: X:80.37, Y:0.27, Z:-1.72 [[ 9.99902051e-01 6.22465288e-03 1.25355961e-02 8.03691850e+01] [-6.21831129e-03 9.99980518e-01 -5.44800234e-04 2.66886730e-01] [-1.25387431e-02 4.66796633e-04 9.99921278e-01 -1.72168595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82439141799999 meters 0.027575139719993005 Centerline is valid? [True, True] Translation: X:80.43, Y:0.26, Z:-1.73 [[ 9.99935867e-01 5.12277801e-03 1.01004163e-02 8.04292606e+01] [-5.11861153e-03 9.99986804e-01 -4.38313808e-04 2.55481934e-01] [-1.01025284e-02 3.86585590e-04 9.99948893e-01 -1.73135273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88439141799998 meters 0.027446116346766823 Centerline is valid? [True, True] Translation: X:80.49, Y:0.25, Z:-1.72 [[ 9.99819582e-01 3.21943142e-03 1.87200060e-02 8.04920825e+01] [-3.20469438e-03 9.99994531e-01 -8.17179902e-04 2.53121553e-01] [-1.87225345e-02 7.57040570e-04 9.99824431e-01 -1.72256293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94439141799998 meters 0.02536354845325412 Centerline is valid? [True, True] Translation: X:80.55, Y:0.26, Z:-1.72 [[ 9.99793397e-01 4.86734542e-03 1.97350372e-02 8.05541760e+01] [-4.85116228e-03 9.99987856e-01 -8.67811844e-04 2.56628043e-01] [-1.97390215e-02 7.71894684e-04 9.99804869e-01 -1.71989103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00439141799998 meters 0.02405820584141528 Centerline is valid? [True, True] Translation: X:80.61, Y:0.26, Z:-1.72 [[ 9.99809824e-01 9.79777519e-03 1.68617985e-02 8.06146152e+01] [-9.78664629e-03 9.99951834e-01 -7.42398579e-04 2.55946538e-01] [-1.68682601e-02 5.77236935e-04 9.99857554e-01 -1.72398865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06439141799999 meters 0.02359907703418949 Centerline is valid? [True, True] Translation: X:80.68, Y:0.26, Z:-1.73 [[ 9.99824835e-01 1.18556788e-02 1.44824825e-02 8.06764123e+01] [-1.18476820e-02 9.99929610e-01 -6.37850347e-04 2.55332474e-01] [-1.44890252e-02 4.66154771e-04 9.99894920e-01 -1.72835447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12439141799999 meters 0.022120160583763974 Centerline is valid? [True, True] Translation: X:80.74, Y:0.25, Z:-1.73 [[ 9.99781907e-01 1.45827577e-02 1.49492715e-02 8.07384988e+01] [-1.45744765e-02 9.99893567e-01 -6.62753814e-04 2.54675056e-01] [-1.49573452e-02 4.44731466e-04 9.99888034e-01 -1.72996370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18439141799999 meters 0.019785947794335446 Centerline is valid? [True, True] Translation: X:80.80, Y:0.26, Z:-1.73 [[ 9.99685406e-01 2.04818890e-02 1.44769503e-02 8.08006812e+01] [-2.04746609e-02 9.99790163e-01 -6.47338826e-04 2.60158760e-01] [-1.44871713e-02 3.50724528e-04 9.99894994e-01 -1.73069465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24439141799998 meters 0.01846871765395761 Centerline is valid? [True, True] Translation: X:80.86, Y:0.26, Z:-1.73 [[ 9.99623177e-01 2.26664891e-02 1.54833594e-02 8.08601236e+01] [-2.26584570e-02 9.99743023e-01 -6.94012054e-04 2.61485029e-01] [-1.54951114e-02 3.42921501e-04 9.99879885e-01 -1.73097079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30439141799998 meters 0.01830882267432539 Centerline is valid? [True, True] Translation: X:80.92, Y:0.26, Z:-1.73 [[ 9.99516093e-01 2.46208105e-02 1.90103909e-02 8.09185172e+01] [-2.46090722e-02 9.99696789e-01 -8.51192351e-04 2.59986353e-01] [-1.90255838e-02 3.82952371e-04 9.99818924e-01 -1.72968307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36439141799998 meters 0.01951038119656582 Centerline is valid? [True, True] Translation: X:80.98, Y:0.25, Z:-1.73 [[ 9.99614121e-01 2.16208257e-02 1.74398477e-02 8.09785537e+01] [-2.16105116e-02 9.99766162e-01 -7.79669922e-04 2.54511177e-01] [-1.74526267e-02 4.02485033e-04 9.99847610e-01 -1.73161039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42439141799998 meters 0.01932011635534195 Centerline is valid? [True, True] Translation: X:81.04, Y:0.25, Z:-1.74 [[ 9.99687211e-01 2.06560292e-02 1.40999561e-02 8.10387428e+01] [-2.06491917e-02 9.99786584e-01 -6.30355943e-04 2.52050261e-01] [-1.41099676e-02 3.39006078e-04 9.99900392e-01 -1.73678378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48439141799999 meters 0.017749310615431346 Centerline is valid? [True, True] Translation: X:81.10, Y:0.25, Z:-1.74 [[ 9.99622878e-01 2.30276822e-02 1.49608589e-02 8.10984594e+01] [-2.30202454e-02 9.99734775e-01 -6.69132741e-04 2.52486684e-01] [-1.49722995e-02 3.24477754e-04 9.99887856e-01 -1.73803572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54439141799999 meters 0.015787686465924176 Centerline is valid? [True, True] Translation: X:81.16, Y:0.26, Z:-1.73 [[ 9.99350181e-01 2.96316910e-02 2.05226515e-02 8.11581275e+01] [-2.96191116e-02 9.99560838e-01 -9.16711830e-04 2.55407021e-01] [-2.05408025e-02 3.08253426e-04 9.99788968e-01 -1.73318571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60439141799999 meters 0.014535413303934982 Centerline is valid? [True, True] Translation: X:81.22, Y:0.25, Z:-1.74 [[ 9.99179851e-01 3.60312289e-02 1.84763678e-02 8.12174232e+01] [-3.60221391e-02 9.99350652e-01 -8.24648547e-04 2.54765400e-01] [-1.84940833e-02 1.58413924e-04 9.99828957e-01 -1.73781268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66439141799998 meters 0.014221053588319647 Centerline is valid? [True, True] Translation: X:81.28, Y:0.25, Z:-1.74 [[ 9.99086717e-01 3.92677108e-02 1.68457507e-02 8.12758882e+01] [-3.92606214e-02 9.99228722e-01 -7.51476398e-04 2.53088851e-01] [-1.68622667e-02 8.94154483e-05 9.99857818e-01 -1.74160653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72439141799998 meters 0.013875284952614857 Centerline is valid? [True, True] Translation: X:81.33, Y:0.25, Z:-1.74 [[ 9.99024335e-01 4.04023043e-02 1.78334546e-02 8.13339875e+01] [-4.03945655e-02 9.99183491e-01 -7.94096192e-04 2.52331382e-01] [-1.78509768e-02 7.29467695e-05 9.99840656e-01 -1.73986925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78439141799998 meters 0.014126451813520477 Centerline is valid? [True, True] Translation: X:81.39, Y:0.25, Z:-1.74 [[ 9.99065959e-01 3.96630431e-02 1.71479874e-02 8.13928542e+01] [-3.96558078e-02 9.99213109e-01 -7.61899079e-04 2.48086327e-01] [-1.71647130e-02 8.11701421e-05 9.99852672e-01 -1.74313505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84439141799999 meters 0.014472309599217668 Centerline is valid? [True, True] Translation: X:81.45, Y:0.24, Z:-1.75 [[ 9.99215683e-01 3.58845985e-02 1.67426183e-02 8.14515635e+01] [-3.58771924e-02 9.99355930e-01 -7.42596044e-04 2.37335890e-01] [-1.67584826e-02 1.41335476e-04 9.99859557e-01 -1.74911532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90439141799999 meters 0.01850518337368254 Centerline is valid? [True, True] Translation: X:81.51, Y:0.22, Z:-1.75 [[ 9.99471434e-01 2.67114674e-02 1.85297304e-02 8.15100435e+01] [-2.67008507e-02 9.99643132e-01 -8.20162508e-04 2.21624169e-01] [-1.85450255e-02 3.24969432e-04 9.99827973e-01 -1.75007476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96439141799999 meters 0.019206857018393805 Centerline is valid? [True, True] Translation: X:81.57, Y:0.22, Z:-1.75 [[ 9.99664699e-01 2.08609809e-02 1.53398022e-02 8.15700626e+01] [-2.08530309e-02 9.99782322e-01 -6.78044083e-04 2.18458374e-01] [-1.53506077e-02 3.57935366e-04 9.99882108e-01 -1.74785857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02439141799998 meters 0.019743758847010448 Centerline is valid? [True, True] Translation: X:81.63, Y:0.21, Z:-1.76 [[ 9.99768239e-01 1.83813760e-02 1.12068200e-02 8.16297853e+01] [-1.83769809e-02 9.99831006e-01 -4.95040884e-04 2.10417381e-01] [-1.12140257e-02 2.88978635e-04 9.99937079e-01 -1.75783520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08439141799998 meters 0.02024020833709374 Centerline is valid? [True, True] Translation: X:81.69, Y:0.20, Z:-1.76 [[ 9.99733801e-01 1.78111285e-02 1.46659632e-02 8.16894089e+01] [-1.78035354e-02 9.99841294e-01 -6.48140241e-04 2.02123637e-01] [-1.46751798e-02 3.86861711e-04 9.99892239e-01 -1.76049170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14439141799998 meters 0.017820681170585446 Centerline is valid? [True, True] Translation: X:81.75, Y:0.21, Z:-1.75 [[ 9.99468880e-01 2.41064799e-02 2.19279446e-02 8.17505818e+01] [-2.40910468e-02 9.99709300e-01 -9.67739482e-04 2.08009538e-01] [-2.19448990e-02 4.38958356e-04 9.99759085e-01 -1.74828237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20439141799999 meters 0.016016464046632935 Centerline is valid? [True, True] Translation: X:81.81, Y:0.22, Z:-1.75 [[ 9.99279177e-01 3.24526786e-02 1.96964310e-02 8.18128623e+01] [-3.24418517e-02 9.99473247e-01 -8.69046445e-04 2.16309915e-01] [-1.97142588e-02 2.29431322e-04 9.99805629e-01 -1.74650908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26439141799999 meters 0.014227232282742697 Centerline is valid? [True, True] Translation: X:81.87, Y:0.22, Z:-1.76 [[ 9.99146284e-01 3.90617451e-02 1.34493046e-02 8.18711390e+01] [-3.90572685e-02 9.99236796e-01 -5.95445086e-04 2.15809967e-01] [-1.34622991e-02 6.96436448e-05 9.99909377e-01 -1.75658795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32439141799999 meters 0.01412933303148356 Centerline is valid? [True, True] Translation: X:81.93, Y:0.21, Z:-1.76 [[ 9.99103826e-01 3.95957221e-02 1.49574258e-02 8.19298827e+01] [-3.95902654e-02 9.99215780e-01 -6.60857538e-04 2.09806326e-01] [-1.49718630e-02 6.80968372e-05 9.99887913e-01 -1.75952357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38439141799998 meters 0.01424135072474575 Centerline is valid? [True, True] Translation: X:81.99, Y:0.21, Z:-1.76 [[ 9.99105620e-01 3.92648497e-02 1.56917772e-02 8.19880796e+01] [-3.92588208e-02 9.99228836e-01 -6.92178401e-04 2.10970242e-01] [-1.57068545e-02 7.55186622e-05 9.99876637e-01 -1.75604535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44439141799998 meters 0.014713546665585069 Centerline is valid? [True, True] Translation: X:82.05, Y:0.20, Z:-1.76 [[ 9.99311171e-01 3.47786401e-02 1.29472051e-02 8.20462170e+01] [-3.47741785e-02 9.99395033e-01 -5.69631965e-04 2.01699245e-01] [-1.29591835e-02 1.19011165e-04 9.99916019e-01 -1.75819081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50439141799998 meters 0.016237029994192277 Centerline is valid? [True, True] Translation: X:82.10, Y:0.19, Z:-1.76 [[ 9.99526194e-01 2.82094261e-02 1.23132182e-02 8.21041291e+01] [-2.82049010e-02 9.99602016e-01 -5.41032886e-04 1.91048931e-01] [-1.23235799e-02 1.93483442e-04 9.99924043e-01 -1.76156900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56439141799999 meters 0.020852135525763666 Centerline is valid? [True, True] Translation: X:82.16, Y:0.18, Z:-1.76 [[ 9.99776670e-01 1.59472580e-02 1.38670614e-02 8.21639069e+01] [-1.59403712e-02 9.99872760e-01 -6.07018206e-04 1.75740470e-01] [-1.38749772e-02 3.85836534e-04 9.99903663e-01 -1.76217488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62439141799999 meters 0.023156172039967723 Centerline is valid? [True, True] Translation: X:82.22, Y:0.17, Z:-1.76 [[ 9.99826706e-01 1.04321004e-02 1.54184737e-02 8.22245003e+01] [-1.04229420e-02 9.99945452e-01 -6.74230910e-04 1.68622677e-01] [-1.54246663e-02 5.13408213e-04 9.99880901e-01 -1.76165171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68439141799999 meters 0.02647930072776846 Centerline is valid? [True, True] Translation: X:82.29, Y:0.16, Z:-1.76 [[ 9.99866458e-01 7.77696411e-03 1.43730371e-02 8.22857250e+01] [-7.76874116e-03 9.99969626e-01 -6.27854944e-04 1.62613180e-01] [-1.43774833e-02 5.16110695e-04 9.99896505e-01 -1.76383476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74439141799998 meters 0.027568500185241564 Centerline is valid? [True, True] Translation: X:82.35, Y:0.16, Z:-1.76 [[ 9.99811965e-01 5.16150606e-03 1.86920970e-02 8.23472126e+01] [-5.14708202e-03 9.99986418e-01 -8.19692209e-04 1.55649016e-01] [-1.86960739e-02 7.23328321e-04 9.99824951e-01 -1.76247706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80439141799998 meters 0.02960850373651259 Centerline is valid? [True, True] Translation: X:82.41, Y:0.15, Z:-1.76 [[ 9.99830765e-01 1.77889427e-03 1.83105626e-02 8.24084126e+01] [-1.76438972e-03 9.99998117e-01 -8.08265521e-04 1.48055418e-01] [-1.83119660e-02 7.75821766e-04 9.99832021e-01 -1.76370266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86439141799998 meters 0.02924296577589366 Centerline is valid? [True, True] Translation: X:82.47, Y:0.15, Z:-1.77 [[ 9.99884971e-01 3.15908766e-03 1.48345722e-02 8.24705553e+01] [-3.14971757e-03 9.99994825e-01 -6.54960258e-04 1.47749953e-01] [-1.48365645e-02 6.08160206e-04 9.99889747e-01 -1.76689200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92439141799998 meters 0.026197975347943412 Centerline is valid? [True, True] Translation: X:82.53, Y:0.15, Z:-1.78 [[ 9.99916184e-01 9.70823287e-03 8.56590254e-03 8.25304249e+01] [-9.70534036e-03 9.99952830e-01 -3.79181435e-04 1.49406289e-01] [-8.56917967e-03 2.96014654e-04 9.99963240e-01 -1.77796784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98439141799999 meters 0.019626919253951637 Centerline is valid? [True, True] Translation: X:82.59, Y:0.16, Z:-1.78 [[ 9.99752744e-01 1.85300929e-02 1.22917282e-02 8.25912314e+01] [-1.85248032e-02 9.99828253e-01 -5.44068373e-04 1.58516778e-01] [-1.22996987e-02 3.16232003e-04 9.99924306e-01 -1.77625583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04439141799999 meters 0.017329089185544575 Centerline is valid? [True, True] Translation: X:82.65, Y:0.16, Z:-1.77 [[ 9.99585029e-01 2.48968989e-02 1.44884244e-02 8.26517167e+01] [-2.48902139e-02 9.99689985e-01 -6.41563901e-04 1.63968210e-01] [-1.44999057e-02 2.80677687e-04 9.99894831e-01 -1.77214374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10439141799999 meters 0.01681309074195115 Centerline is valid? [True, True] Translation: X:82.71, Y:0.16, Z:-1.77 [[ 9.99563240e-01 2.61207341e-02 1.38216306e-02 8.27116470e+01] [-2.61147686e-02 9.99658764e-01 -6.11946046e-04 1.61948030e-01] [-1.38328986e-02 2.50730089e-04 9.99904289e-01 -1.77396021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16439141799998 meters 0.01696321288340146 Centerline is valid? [True, True] Translation: X:82.77, Y:0.16, Z:-1.77 [[ 9.99580391e-01 2.62026006e-02 1.23477207e-02 8.27709293e+01] [-2.61978462e-02 9.99656628e-01 -5.46662397e-04 1.63867713e-01] [-1.23578048e-02 2.22949326e-04 9.99923615e-01 -1.77351433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22439141799998 meters 0.018107433184282682 Centerline is valid? [True, True] Translation: X:82.83, Y:0.16, Z:-1.78 [[ 9.99611361e-01 2.57212148e-02 1.07491910e-02 8.28283783e+01] [-2.57175872e-02 9.99669135e-01 -4.75587781e-04 1.62802067e-01] [-1.07578671e-02 1.98959694e-04 9.99942113e-01 -1.77592083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28439141799998 meters 0.018133262058093482 Centerline is valid? [True, True] Translation: X:82.89, Y:0.15, Z:-1.78 [[ 9.99648985e-01 2.39312155e-02 1.13667958e-02 8.28871303e+01] [-2.39270626e-02 9.99713581e-01 -5.01226200e-04 1.54010420e-01] [-1.13755351e-02 2.29076227e-04 9.99935270e-01 -1.78270155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34439141799999 meters 0.01828312194241884 Centerline is valid? [True, True] Translation: X:82.95, Y:0.15, Z:-1.78 [[ 9.99648770e-01 2.22440777e-02 1.44061568e-02 8.29455854e+01] [-2.22372541e-02 9.99752521e-01 -6.33692334e-04 1.53177633e-01] [-1.44166874e-02 3.13116394e-04 9.99896025e-01 -1.78064906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40439141799999 meters 0.018389611774542847 Centerline is valid? [True, True] Translation: X:83.01, Y:0.15, Z:-1.78 [[ 9.99617290e-01 2.23309858e-02 1.63279111e-02 8.30058682e+01] [-2.23222619e-02 9.99750571e-01 -7.16368878e-04 1.52681927e-01] [-1.63398357e-02 3.51618807e-04 9.99866434e-01 -1.77806658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46439141799999 meters 0.018560780765703364 Centerline is valid? [True, True] Translation: X:83.07, Y:0.15, Z:-1.78 [[ 9.99666944e-01 2.08527605e-02 1.52040461e-02 8.30661687e+01] [-2.08450315e-02 9.99782496e-01 -6.66661506e-04 1.47079624e-01] [-1.52146409e-02 3.49510650e-04 9.99884190e-01 -1.78123040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52439141799998 meters 0.01999138712267266 Centerline is valid? [True, True] Translation: X:83.13, Y:0.14, Z:-1.78 [[ 9.99743960e-01 1.59623607e-02 1.60380291e-02 8.31267387e+01] [-1.59531336e-02 9.99872493e-01 -7.03106935e-04 1.41163230e-01] [-1.60472074e-02 4.47070090e-04 9.99871135e-01 -1.78120050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58439141799998 meters 0.021406102307896142 Centerline is valid? [True, True] Translation: X:83.19, Y:0.13, Z:-1.79 [[ 9.99809680e-01 1.39816998e-02 1.36057606e-02 8.31875351e+01] [-1.39749009e-02 9.99902169e-01 -5.94653808e-04 1.34987478e-01] [-1.36127438e-02 4.04401477e-04 9.99907261e-01 -1.78536322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64439141799998 meters 0.02559436864912508 Centerline is valid? [True, True] Translation: X:83.25, Y:0.13, Z:-1.79 [[ 9.99880030e-01 1.22138032e-02 9.52622861e-03 8.32484519e+01] [-1.22103821e-02 9.99925363e-01 -4.17204330e-04 1.27277478e-01] [-9.53061326e-03 3.00835386e-04 9.99954537e-01 -1.79300885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70439141799999 meters 0.02148221413167701 Centerline is valid? [True, True] Translation: X:83.31, Y:0.14, Z:-1.79 [[ 9.99841723e-01 1.36364930e-02 1.14269451e-02 8.33097064e+01] [-1.36315862e-02 9.99906957e-01 -5.07184954e-04 1.36109678e-01] [-1.14327981e-02 3.51337291e-04 9.99934582e-01 -1.78932651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76439141799999 meters 0.021868556632692902 Centerline is valid? [True, True] Translation: X:83.37, Y:0.13, Z:-1.79 [[ 9.99842189e-01 1.38696391e-02 1.11009114e-02 8.33711648e+01] [-1.38650274e-02 9.99903755e-01 -4.92282002e-04 1.32487085e-01] [-1.11066708e-02 3.38289873e-04 9.99938262e-01 -1.79402971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82439141799999 meters 0.026840490392023075 Centerline is valid? [True, True] Translation: X:83.43, Y:0.12, Z:-1.80 [[ 9.99895758e-01 6.05282644e-03 1.31086164e-02 8.34313345e+01] [-6.04571343e-03 9.99981555e-01 -5.82180362e-04 1.23568099e-01] [-1.31118984e-02 5.02868736e-04 9.99913909e-01 -1.79556113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88439141799998 meters 0.033193077455325175 Centerline is valid? [True, True] Translation: X:83.49, Y:0.11, Z:-1.80 [[ 9.99905002e-01 -3.25719870e-03 1.33931753e-02 8.34911800e+01] [ 3.26546181e-03 9.99994491e-01 -5.95141699e-04 1.13722955e-01] [-1.33911631e-02 6.38820064e-04 9.99910130e-01 -1.79597331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94439141799998 meters 0.03687982893533357 Centerline is valid? [True, True] Translation: X:83.55, Y:0.10, Z:-1.80 [[ 9.99913281e-01 -8.42475844e-03 1.01219720e-02 8.35513915e+01] [ 8.42974331e-03 9.99964368e-01 -4.49916084e-04 1.04886906e-01] [-1.01178209e-02 5.35202694e-04 9.99948670e-01 -1.80251693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00439141799998 meters 0.04115148989569727 Centerline is valid? [True, True] Translation: X:83.61, Y:0.10, Z:-1.81 [[ 9.99872228e-01 -1.34234556e-02 8.67973057e-03 8.36116787e+01] [ 1.34273089e-02 9.99909775e-01 -3.85821575e-04 1.00739693e-01] [-8.67376838e-03 5.02317702e-04 9.99962256e-01 -1.80575267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06439141799999 meters 0.04041029739810369 Centerline is valid? [True, True] Translation: X:83.67, Y:0.10, Z:-1.81 [[ 9.99889515e-01 -1.13886202e-02 9.55285955e-03 8.36733925e+01] [ 1.13931916e-02 9.99935005e-01 -4.24254747e-04 1.03615283e-01] [-9.54740699e-03 5.33045433e-04 9.99954280e-01 -1.80658439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12439141799999 meters 0.036360200511249184 Centerline is valid? [True, True] Translation: X:83.73, Y:0.11, Z:-1.81 [[ 9.99923516e-01 -2.56958365e-03 1.20978912e-02 8.37335777e+01] [ 2.57628282e-03 9.99996537e-01 -5.38195097e-04 1.12177158e-01] [-1.20964664e-02 5.69321524e-04 9.99926673e-01 -1.80731228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18439141799999 meters 0.032723887592655425 Centerline is valid? [True, True] Translation: X:83.79, Y:0.12, Z:-1.80 [[ 9.99886971e-01 1.26458265e-03 1.49815185e-02 8.37947287e+01] [-1.25473476e-03 9.99998991e-01 -6.66717388e-04 1.19912641e-01] [-1.49823465e-02 6.47844198e-04 9.99887548e-01 -1.80445998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24439141799998 meters 0.026676947248844625 Centerline is valid? [True, True] Translation: X:83.86, Y:0.13, Z:-1.80 [[ 9.99854492e-01 4.70870608e-03 1.63958134e-02 8.38571831e+01] [-4.69737132e-03 9.99988701e-01 -7.29763451e-04 1.29570952e-01] [-1.63990644e-02 6.52640041e-04 9.99865313e-01 -1.80190997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30439141799998 meters 0.020163897801677624 Centerline is valid? [True, True] Translation: X:83.92, Y:0.15, Z:-1.80 [[ 9.99712474e-01 1.79812590e-02 1.58633041e-02 8.39183241e+01] [-1.79722968e-02 9.99838235e-01 -7.07351790e-04 1.45269199e-01] [-1.58734571e-02 4.22048398e-04 9.99873920e-01 -1.80272813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36439141799998 meters 0.01547261566782958 Centerline is valid? [True, True] Translation: X:83.98, Y:0.16, Z:-1.81 [[ 9.99380133e-01 3.12875191e-02 1.61381759e-02 8.39783766e+01] [-3.12799770e-02 9.99510403e-01 -7.19610442e-04 1.57191129e-01] [-1.61527895e-02 2.14362608e-04 9.99869512e-01 -1.80707197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42439141799998 meters 0.01402306861625941 Centerline is valid? [True, True] Translation: X:84.04, Y:0.16, Z:-1.81 [[ 9.99208077e-01 3.66281316e-02 1.55434411e-02 8.40359115e+01] [-3.66217737e-02 9.99328957e-01 -6.93566179e-04 1.56446328e-01] [-1.55584148e-02 1.23788546e-04 9.99878953e-01 -1.81358440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48439141799999 meters 0.013569495559934171 Centerline is valid? [True, True] Translation: X:84.10, Y:0.16, Z:-1.81 [[ 9.98902025e-01 4.31756174e-02 1.81826717e-02 8.40953266e+01] [-4.31680402e-02 9.99067498e-01 -8.09192076e-04 1.63874169e-01] [-1.82006537e-02 2.33932994e-05 9.99834354e-01 -1.80893705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54439141799999 meters 0.013616661950489722 Centerline is valid? [True, True] Translation: X:84.15, Y:0.17, Z:-1.81 [[ 9.98647193e-01 4.86362258e-02 1.83929966e-02 8.41543543e+01] [-4.86294260e-02 9.98816555e-01 -8.17036650e-04 1.70566447e-01] [-1.84109671e-02 -7.85095122e-05 9.99830501e-01 -1.80646993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60439141799998 meters 0.013540899572634898 Centerline is valid? [True, True] Translation: X:84.21, Y:0.16, Z:-1.82 [[ 9.98743097e-01 4.72517048e-02 1.67183314e-02 8.42108561e+01] [-4.72459042e-02 9.98883013e-01 -7.41977344e-04 1.58867275e-01] [-1.67347169e-02 -4.88279328e-05 9.99859964e-01 -1.81873101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66439141799998 meters 0.015847808447390793 Centerline is valid? [True, True] Translation: X:84.27, Y:0.14, Z:-1.82 [[ 9.99058370e-01 3.71516480e-02 2.24082155e-02 8.42691379e+01] [-3.71388047e-02 9.99309627e-01 -9.89179906e-04 1.41359994e-01] [-2.24294951e-02 1.56034125e-04 9.99748415e-01 -1.81689797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72439141799998 meters 0.015174816970672429 Centerline is valid? [True, True] Translation: X:84.33, Y:0.14, Z:-1.81 [[ 9.99258348e-01 3.10835011e-02 2.27281745e-02 8.43279248e+01] [-3.10687597e-02 9.99516748e-01 -1.00150718e-03 1.36390849e-01] [-2.27483214e-02 2.94628219e-04 9.99741180e-01 -1.81306790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78439141799998 meters 0.018131776955236347 Centerline is valid? [True, True] Translation: X:84.39, Y:0.12, Z:-1.82 [[ 9.99545190e-01 2.40510262e-02 1.81923629e-02 8.43872358e+01] [-2.40404423e-02 9.99710666e-01 -8.00283091e-04 1.24626470e-01] [-1.82063468e-02 3.62566665e-04 9.99834185e-01 -1.81600898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84439141799999 meters 0.021608286813345097 Centerline is valid? [True, True] Translation: X:84.45, Y:0.10, Z:-1.82 [[ 9.99616515e-01 1.83732795e-02 2.07182193e-02 8.44460595e+01] [-1.83583461e-02 9.99831057e-01 -9.10770367e-04 1.04136035e-01] [-2.07314529e-02 5.30068860e-04 9.99784940e-01 -1.81977513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90439141799999 meters 0.02035127846713146 Centerline is valid? [True, True] Translation: X:84.51, Y:0.10, Z:-1.82 [[ 9.99629525e-01 1.72670073e-02 2.10395493e-02 8.45081595e+01] [-1.72513232e-02 9.99850755e-01 -9.26744576e-04 9.95921547e-02] [-2.10524114e-02 5.63441175e-04 9.99778215e-01 -1.82283111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96439141799999 meters 0.020056198428678312 Centerline is valid? [True, True] Translation: X:84.57, Y:0.09, Z:-1.83 [[ 9.99669750e-01 1.83284446e-02 1.80127428e-02 8.45703097e+01] [-1.83170456e-02 9.99831911e-01 -7.97621516e-04 9.45683746e-02] [-1.80243343e-02 4.67417870e-04 9.99837439e-01 -1.82770854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02439141799998 meters 0.019671599226860632 Centerline is valid? [True, True] Translation: X:84.63, Y:0.09, Z:-1.83 [[ 9.99662919e-01 1.93949363e-02 1.72593197e-02 8.46325460e+01] [-1.93845501e-02 9.99811806e-01 -7.68879840e-04 9.19339917e-02] [-1.72709840e-02 4.34056518e-04 9.99850751e-01 -1.82852635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08439141799998 meters 0.01829081698112618 Centerline is valid? [True, True] Translation: X:84.69, Y:0.09, Z:-1.83 [[ 9.99603189e-01 2.38313016e-02 1.50177890e-02 8.46946604e+01] [-2.38238636e-02 9.99715944e-01 -6.74011849e-04 9.35656460e-02] [-1.50295857e-02 3.15962637e-04 9.99886999e-01 -1.82807418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14439141799998 meters 0.01710519609680526 Centerline is valid? [True, True] Translation: X:84.75, Y:0.09, Z:-1.83 [[ 9.99530124e-01 2.77363192e-02 1.30471636e-02 8.47542419e+01] [-2.77310183e-02 9.99615249e-01 -5.87056516e-04 9.12872841e-02] [-1.30584265e-02 2.24969539e-04 9.99914710e-01 -1.83370695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20439141799999 meters 0.015023031420330605 Centerline is valid? [True, True] Translation: X:84.81, Y:0.09, Z:-1.84 [[ 9.99363873e-01 3.29178211e-02 1.37210051e-02 8.48133730e+01] [-3.29124520e-02 9.99458048e-01 -6.16991834e-04 8.66498684e-02] [-1.37338790e-02 1.65007429e-04 9.99905672e-01 -1.83851475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26439141799999 meters 0.014018397730867061 Centerline is valid? [True, True] Translation: X:84.87, Y:0.09, Z:-1.83 [[ 9.99118419e-01 3.85869506e-02 1.65357667e-02 8.48727017e+01] [-3.85799484e-02 9.99255241e-01 -7.42361811e-04 8.79958473e-02] [-1.65520970e-02 1.03758333e-04 9.99862999e-01 -1.83214117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32439141799999 meters 0.01391462022055266 Centerline is valid? [True, True] Translation: X:84.93, Y:0.08, Z:-1.83 [[ 9.99090107e-01 3.98122543e-02 1.52951615e-02 8.49312673e+01] [-3.98064241e-02 9.99207175e-01 -6.85552821e-04 8.39556121e-02] [-1.53103285e-02 7.60833568e-05 9.99882787e-01 -1.83270190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38439141799998 meters 0.014606127163443915 Centerline is valid? [True, True] Translation: X:84.99, Y:0.07, Z:-1.84 [[ 9.99234508e-01 3.64736063e-02 1.41447655e-02 8.49890965e+01] [-3.64682964e-02 9.99334610e-01 -6.33230889e-04 7.41286356e-02] [-1.41584499e-02 1.16910655e-04 9.99899757e-01 -1.83503745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44439141799998 meters 0.015141749804596046 Centerline is valid? [True, True] Translation: X:85.05, Y:0.07, Z:-1.84 [[ 9.99306832e-01 3.41412492e-02 1.48401445e-02 8.50478873e+01] [-3.41351777e-02 9.99417006e-01 -6.62306847e-04 6.77380911e-02] [-1.48541048e-02 1.55276786e-04 9.99889660e-01 -1.83535624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50439141799998 meters 0.016319664781519225 Centerline is valid? [True, True] Translation: X:85.11, Y:0.05, Z:-1.84 [[ 9.99385803e-01 3.19299537e-02 1.44393663e-02 8.51054106e+01] [-3.19239882e-02 9.99490092e-01 -6.43503946e-04 5.25604933e-02] [-1.44525506e-02 1.82146548e-04 9.99895540e-01 -1.84179803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56439141799999 meters 0.01782301866829893 Centerline is valid? [True, True] Translation: X:85.16, Y:0.04, Z:-1.84 [[ 9.99559466e-01 2.51826382e-02 1.57069912e-02 8.51643156e+01] [-2.51747774e-02 9.99682821e-01 -6.98016084e-04 4.25942278e-02] [-1.57195872e-02 3.02288577e-04 9.99876394e-01 -1.83841769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62439141799999 meters 0.01907167109415381 Centerline is valid? [True, True] Translation: X:85.22, Y:0.04, Z:-1.84 [[ 9.99668555e-01 2.02662575e-02 1.58763891e-02 8.52249357e+01] [-2.02576272e-02 9.99794545e-01 -7.04238410e-04 3.74511843e-02] [-1.58873995e-02 3.82387021e-04 9.99873714e-01 -1.83623749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68439141799999 meters 0.02056462406392148 Centerline is valid? [True, True] Translation: X:85.29, Y:0.02, Z:-1.84 [[ 9.99731693e-01 1.56950150e-02 1.70354963e-02 8.52859362e+01] [-1.56844379e-02 9.99876707e-01 -7.54322606e-04 1.87964529e-02] [-1.70452351e-02 4.86928032e-04 9.99854601e-01 -1.84016664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74439141799998 meters 0.0230333236303819 Centerline is valid? [True, True] Translation: X:85.35, Y:0.01, Z:-1.84 [[ 9.99754837e-01 1.50578699e-02 1.62335201e-02 8.53479638e+01] [-1.50481173e-02 9.99886509e-01 -7.22759138e-04 9.62859719e-03] [-1.62425610e-02 4.78298028e-04 9.99867967e-01 -1.84338202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80439141799998 meters 0.021464715720426217 Centerline is valid? [True, True] Translation: X:85.41, Y:0.01, Z:-1.84 [[ 9.99751424e-01 1.44082634e-02 1.70144546e-02 8.54100131e+01] [-1.43973685e-02 9.99896062e-01 -7.62659647e-04 5.38936087e-03] [-1.70236748e-02 5.17506696e-04 9.99854953e-01 -1.84222936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86439141799998 meters 0.02350764217169947 Centerline is valid? [True, True] Translation: X:85.47, Y:-0.01, Z:-1.84 [[ 9.99766011e-01 1.39090828e-02 1.65668610e-02 8.54702893e+01] [-1.38986069e-02 9.99903130e-01 -7.47315866e-04 -9.96898488e-03] [-1.65756507e-02 5.16884714e-04 9.99862481e-01 -1.84401483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92439141799998 meters 0.022561846498218532 Centerline is valid? [True, True] Translation: X:85.53, Y:-0.01, Z:-1.85 [[ 9.99794864e-01 1.50563482e-02 1.35475804e-02 8.55328736e+01] [-1.50494210e-02 9.99886563e-01 -6.13135487e-04 -1.30242906e-02] [-1.35552751e-02 4.09126471e-04 9.99908039e-01 -1.84664387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98439141799999 meters 0.023588702267947084 Centerline is valid? [True, True] Translation: X:85.59, Y:-0.02, Z:-1.86 [[ 9.99837179e-01 1.44448575e-02 1.08148972e-02 8.55941175e+01] [-1.44403801e-02 9.99895611e-01 -4.91982340e-04 -2.44552468e-02] [-1.08208749e-02 3.35731008e-04 9.99941396e-01 -1.85536632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04439141799999 meters 0.02372283712439703 Centerline is valid? [True, True] Translation: X:85.66, Y:-0.03, Z:-1.86 [[ 9.99804320e-01 1.51114317e-02 1.27658111e-02 8.56554984e+01] [-1.51051614e-02 9.99885738e-01 -5.87463239e-04 -3.25165581e-02] [-1.27732299e-02 3.94518647e-04 9.99918341e-01 -1.85636420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10439141799998 meters 0.020671003150612904 Centerline is valid? [True, True] Translation: X:85.72, Y:-0.03, Z:-1.85 [[ 9.99635551e-01 2.07503950e-02 1.72680595e-02 8.57172700e+01] [-2.07397435e-02 9.99784592e-01 -7.95703110e-04 -2.57709768e-02] [-1.72808510e-02 4.37277991e-04 9.99850579e-01 -1.84672567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16439141799998 meters 0.018843747955152118 Centerline is valid? [True, True] Translation: X:85.78, Y:-0.03, Z:-1.85 [[ 9.99585318e-01 2.41691418e-02 1.56538811e-02 8.57798238e+01] [-2.41608291e-02 9.99707825e-01 -7.19959585e-04 -2.58628788e-02] [-1.56667082e-02 3.41450284e-04 9.99877211e-01 -1.84877031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22439141799998 meters 0.02005180293352528 Centerline is valid? [True, True] Translation: X:85.84, Y:-0.04, Z:-1.86 [[ 9.99622959e-01 2.41101228e-02 1.31393413e-02 8.58407113e+01] [-2.41041991e-02 9.99709266e-01 -6.09039287e-04 -3.85367545e-02] [-1.31502053e-02 2.92096355e-04 9.99913490e-01 -1.85921860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28439141799998 meters 0.021072443706878326 Centerline is valid? [True, True] Translation: X:85.90, Y:-0.04, Z:-1.86 [[ 9.99625381e-01 2.29812946e-02 1.48646642e-02 8.59008619e+01] [-2.29735736e-02 9.99735835e-01 -6.89992753e-04 -4.45307776e-02] [-1.48765944e-02 3.48239812e-04 9.99889277e-01 -1.85829611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34439141799999 meters 0.017708975347571577 Centerline is valid? [True, True] Translation: X:85.96, Y:-0.04, Z:-1.85 [[ 9.99491465e-01 2.80344230e-02 1.51948333e-02 8.59615699e+01] [-2.80269407e-02 9.99606919e-01 -7.05188024e-04 -4.12218577e-02] [-1.52086300e-02 2.78964719e-04 9.99884303e-01 -1.85499230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40439141799999 meters 0.014843858914867144 Centerline is valid? [True, True] Translation: X:86.02, Y:-0.04, Z:-1.86 [[ 9.99216694e-01 3.74937395e-02 1.26576836e-02 8.60205596e+01] [-3.74892971e-02 9.99296856e-01 -5.88141587e-04 -3.93698856e-02] [-1.26708351e-02 1.13153231e-04 9.99919715e-01 -1.86133811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46439141799999 meters 0.013713531638386896 Centerline is valid? [True, True] Translation: X:86.08, Y:-0.04, Z:-1.86 [[ 9.98988087e-01 4.26549556e-02 1.42603357e-02 8.60790620e+01] [-4.26498471e-02 9.99089862e-01 -6.62291815e-04 -4.03860064e-02] [-1.42756069e-02 5.34204943e-05 9.99898097e-01 -1.86178984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52439141799998 meters 0.013515595466365698 Centerline is valid? [True, True] Translation: X:86.14, Y:-0.04, Z:-1.86 [[ 9.98766275e-01 4.67387071e-02 1.67755983e-02 8.61381436e+01] [-4.67322405e-02 9.98907149e-01 -7.77487845e-04 -4.05009339e-02] [-1.67936039e-02 -7.43265565e-06 9.99858977e-01 -1.85903838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58439141799998 meters 0.013398616972251306 Centerline is valid? [True, True] Translation: X:86.20, Y:-0.04, Z:-1.86 [[ 9.98809815e-01 4.60503637e-02 1.60722625e-02 8.61969012e+01] [-4.60443585e-02 9.98939119e-01 -7.43675438e-04 -4.38049103e-02] [-1.60894583e-02 2.75331008e-06 9.99870556e-01 -1.85825068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64439141799998 meters 0.014014440314332962 Centerline is valid? [True, True] Translation: X:86.25, Y:-0.06, Z:-1.87 [[ 9.99063832e-01 4.14854485e-02 1.22644902e-02 8.62543762e+01] [-4.14816127e-02 9.99139107e-01 -5.67090618e-04 -5.76631319e-02] [-1.22774578e-02 5.78088942e-05 9.99924628e-01 -1.86566884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70439141799999 meters 0.015345725333953968 Centerline is valid? [True, True] Translation: X:86.31, Y:-0.07, Z:-1.87 [[ 9.99291725e-01 3.45090587e-02 1.50057533e-02 8.63111752e+01] [-3.45025605e-02 9.99404370e-01 -6.91791816e-04 -7.32586987e-02] [-1.50206885e-02 1.73564926e-04 9.99887168e-01 -1.86638913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76439141799999 meters 0.01651902979612241 Centerline is valid? [True, True] Translation: X:86.37, Y:-0.08, Z:-1.87 [[ 9.99468996e-01 2.92939522e-02 1.42685263e-02 8.63702567e+01] [-2.92875702e-02 9.99570812e-01 -6.56075065e-04 -8.24106174e-02] [-1.42816214e-02 2.37836221e-04 9.99897984e-01 -1.86837055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82439141799999 meters 0.019422875201628165 Centerline is valid? [True, True] Translation: X:86.43, Y:-0.10, Z:-1.87 [[ 9.99613732e-01 2.35981816e-02 1.46803479e-02 8.64292090e+01] [-2.35908251e-02 9.99721470e-01 -6.74100941e-04 -9.50411158e-02] [-1.46921666e-02 3.27519036e-04 9.99892011e-01 -1.86916038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88439141799998 meters 0.02058242031100008 Centerline is valid? [True, True] Translation: X:86.49, Y:-0.10, Z:-1.87 [[ 9.99687605e-01 1.87100652e-02 1.65718642e-02 8.64906476e+01] [-1.87000219e-02 9.99824850e-01 -7.60808798e-04 -1.03592893e-01] [-1.65831964e-02 4.50676901e-04 9.99862388e-01 -1.86542827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94439141799998 meters 0.023406170076317876 Centerline is valid? [True, True] Translation: X:86.55, Y:-0.11, Z:-1.87 [[ 9.99705173e-01 1.75635235e-02 1.67657008e-02 8.65513874e+01] [-1.75530905e-02 9.99845637e-01 -7.69248276e-04 -1.11971842e-01] [-1.67766235e-02 4.74731617e-04 9.99859150e-01 -1.86649759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00439141799998 meters 0.022380897452035725 Centerline is valid? [True, True] Translation: X:86.61, Y:-0.12, Z:-1.87 [[ 9.99776449e-01 1.43746950e-02 1.55054717e-02 8.66125780e+01] [-1.43653333e-02 9.99896558e-01 -7.14983268e-04 -1.19930619e-01] [-1.55141454e-02 4.92082165e-04 9.99879527e-01 -1.87193081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06439141799999 meters 0.022699108812902147 Centerline is valid? [True, True] Translation: X:86.68, Y:-0.13, Z:-1.87 [[ 9.99785624e-01 1.43957313e-02 1.48818399e-02 8.66753872e+01] [-1.43870614e-02 9.99896263e-01 -6.89481372e-04 -1.27281380e-01] [-1.48902217e-02 4.75227619e-04 9.99889022e-01 -1.87497275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12439141799999 meters 0.0215974228554795 Centerline is valid? [True, True] Translation: X:86.74, Y:-0.13, Z:-1.87 [[ 9.99720835e-01 1.82694303e-02 1.49826742e-02 8.67360224e+01] [-1.82609716e-02 9.99833009e-01 -7.01192391e-04 -1.27695115e-01] [-1.49929827e-02 4.27398453e-04 9.99887508e-01 -1.87314475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18439141799999 meters 0.02028360890968641 Centerline is valid? [True, True] Translation: X:86.80, Y:-0.13, Z:-1.88 [[ 9.99662826e-01 2.21021681e-02 1.36282123e-02 8.67983107e+01] [-2.20955515e-02 9.99755661e-01 -6.35902946e-04 -1.30087064e-01] [-1.36389372e-02 3.34565671e-04 9.99906929e-01 -1.87665785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24439141799998 meters 0.018321508830253495 Centerline is valid? [True, True] Translation: X:86.86, Y:-0.13, Z:-1.87 [[ 9.99507130e-01 2.66589849e-02 1.65769851e-02 8.68596068e+01] [-2.66497028e-02 9.99644529e-01 -7.80631270e-04 -1.29670879e-01] [-1.65919033e-02 3.38474794e-04 9.99862288e-01 -1.87431278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30439141799998 meters 0.019229157574432398 Centerline is valid? [True, True] Translation: X:86.92, Y:-0.14, Z:-1.88 [[ 9.99522429e-01 2.64035080e-02 1.60552039e-02 8.69202257e+01] [-2.63947786e-02 9.99651312e-01 -7.55405973e-04 -1.37976594e-01] [-1.60695510e-02 3.31271659e-04 9.99870822e-01 -1.87799284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36439141799998 meters 0.020869405379954926 Centerline is valid? [True, True] Translation: X:86.98, Y:-0.15, Z:-1.88 [[ 9.99663840e-01 2.27565591e-02 1.24236088e-02 8.69816482e+01] [-2.27510068e-02 9.99740989e-01 -5.88078207e-04 -1.50500645e-01] [-1.24337736e-02 3.05230911e-04 9.99922651e-01 -1.88437546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42439141799998 meters 0.021909947995286845 Centerline is valid? [True, True] Translation: X:87.04, Y:-0.15, Z:-1.88 [[ 9.99700204e-01 2.18384951e-02 1.10716696e-02 8.70432086e+01] [-2.18340173e-02 9.99761471e-01 -5.25168794e-04 -1.50158839e-01] [-1.10804975e-02 2.83272327e-04 9.99938569e-01 -1.88450442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48439141799999 meters 0.01966841104852205 Centerline is valid? [True, True] Translation: X:87.10, Y:-0.15, Z:-1.88 [[ 9.99629147e-01 2.24515069e-02 1.54109777e-02 8.71036116e+01] [-2.24428859e-02 9.99747859e-01 -7.32143641e-04 -1.48594588e-01] [-1.54235297e-02 3.86005309e-04 9.99880976e-01 -1.87896508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54439141799999 meters 0.020076670540003064 Centerline is valid? [True, True] Translation: X:87.17, Y:-0.16, Z:-1.88 [[ 9.99594699e-01 2.23734763e-02 1.76030112e-02 8.71657472e+01] [-2.23622384e-02 9.99749585e-01 -8.35013471e-04 -1.56758970e-01] [-1.76172853e-02 4.41032306e-04 9.99844706e-01 -1.88091000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60439141799998 meters 0.02162512844749066 Centerline is valid? [True, True] Translation: X:87.23, Y:-0.16, Z:-1.89 [[ 9.99698400e-01 1.93420731e-02 1.51325383e-02 8.72261270e+01] [-1.93333538e-02 9.99812832e-01 -7.22284637e-04 -1.63454677e-01] [-1.51436765e-02 4.29504079e-04 9.99885236e-01 -1.88509118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66439141799998 meters 0.02177917381730707 Centerline is valid? [True, True] Translation: X:87.29, Y:-0.16, Z:-1.88 [[ 9.99724244e-01 1.81794422e-02 1.48641579e-02 8.72884404e+01] [-1.81708858e-02 9.99834643e-01 -7.10498925e-04 -1.64541167e-01] [-1.48746165e-02 4.40208085e-04 9.99889270e-01 -1.88451153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72439141799998 meters 0.022168136373451015 Centerline is valid? [True, True] Translation: X:87.35, Y:-0.17, Z:-1.89 [[ 9.99698709e-01 1.93083581e-02 1.51551380e-02 8.73498774e+01] [-1.92995253e-02 9.99813481e-01 -7.28871033e-04 -1.72736078e-01] [-1.51663845e-02 4.36164462e-04 9.99884889e-01 -1.88563843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78439141799998 meters 0.021313350805234322 Centerline is valid? [True, True] Translation: X:87.41, Y:-0.17, Z:-1.89 [[ 9.99647827e-01 2.22144106e-02 1.45169819e-02 8.74121208e+01] [-2.22065567e-02 9.99753158e-01 -7.02003738e-04 -1.74640701e-01] [-1.45289931e-02 3.79384329e-04 9.99894377e-01 -1.88685080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84439141799999 meters 0.01939652951592349 Centerline is valid? [True, True] Translation: X:87.47, Y:-0.17, Z:-1.89 [[ 9.99651377e-01 2.39063352e-02 1.12076731e-02 8.74747962e+01] [-2.39017435e-02 9.99714165e-01 -5.43480533e-04 -1.70866290e-01] [-1.12174622e-02 2.75408135e-04 9.99937044e-01 -1.89119817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90439141799999 meters 0.01854287168685949 Centerline is valid? [True, True] Translation: X:87.54, Y:-0.17, Z:-1.89 [[ 9.99614693e-01 2.44524165e-02 1.31356353e-02 8.75353354e+01] [-2.44460579e-02 9.99700943e-01 -6.44443707e-04 -1.73741744e-01] [-1.31474652e-02 3.23080897e-04 9.99913516e-01 -1.89140959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96439141799998 meters 0.02032210599676224 Centerline is valid? [True, True] Translation: X:87.60, Y:-0.18, Z:-1.89 [[ 9.99665763e-01 2.24348514e-02 1.28468098e-02 8.75950223e+01] [-2.24286053e-02 9.99748249e-01 -6.30085218e-04 -1.83196664e-01] [-1.28577115e-02 3.41738593e-04 9.99917278e-01 -1.89127470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02439141799998 meters 0.02095819432509586 Centerline is valid? [True, True] Translation: X:87.66, Y:-0.18, Z:-1.89 [[ 9.99691906e-01 2.24654135e-02 1.05545669e-02 8.76566694e+01] [-2.24612266e-02 9.99747582e-01 -5.15072598e-04 -1.82994814e-01] [-1.05634741e-02 2.77845388e-04 9.99944166e-01 -1.89377325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08439141799998 meters 0.02110911183209813 Centerline is valid? [True, True] Translation: X:87.72, Y:-0.18, Z:-1.90 [[ 9.99653180e-01 2.45123336e-02 9.62625285e-03 8.77173959e+01] [-2.45088958e-02 9.99699499e-01 -4.74952369e-04 -1.81925500e-01] [-9.63500235e-03 2.38858818e-04 9.99953554e-01 -1.89708166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14439141799998 meters 0.018907157466729177 Centerline is valid? [True, True] Translation: X:87.78, Y:-0.19, Z:-1.90 [[ 9.99592496e-01 2.53450963e-02 1.31327432e-02 8.77767751e+01] [-2.53387645e-02 9.99678712e-01 -6.48325717e-04 -1.86762849e-01] [-1.31449556e-02 3.15294035e-04 9.99913552e-01 -1.89595179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20439141799999 meters 0.019150811038999144 Centerline is valid? [True, True] Translation: X:87.84, Y:-0.19, Z:-1.89 [[ 9.99489411e-01 2.80988766e-02 1.52108355e-02 8.78369787e+01] [-2.80907191e-02 9.99605097e-01 -7.49728515e-04 -1.88588319e-01] [-1.52258952e-02 3.22062405e-04 9.99884027e-01 -1.89329387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26439141799999 meters 0.017598859768987986 Centerline is valid? [True, True] Translation: X:87.90, Y:-0.19, Z:-1.90 [[ 9.99419219e-01 3.18036814e-02 1.22372943e-02 8.78986520e+01] [-3.17986796e-02 9.99494112e-01 -6.03136507e-04 -1.86489636e-01] [-1.22502856e-02 2.13656415e-04 9.99924940e-01 -1.89773060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32439141799999 meters 0.01748953768922306 Centerline is valid? [True, True] Translation: X:87.96, Y:-0.19, Z:-1.90 [[ 9.99357571e-01 3.41670292e-02 1.08194390e-02 8.79571685e+01] [-3.41632424e-02 9.99416123e-01 -5.34677366e-04 -1.93719185e-01] [-1.08313901e-02 1.64706757e-04 9.99941325e-01 -1.90389630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38439141799998 meters 0.014925528899297314 Centerline is valid? [True, True] Translation: X:88.02, Y:-0.19, Z:-1.90 [[ 9.99079611e-01 4.05709437e-02 1.39258667e-02 8.80166301e+01] [-4.05653061e-02 9.99176653e-01 -6.87178220e-04 -1.87402359e-01] [-1.39422804e-02 1.21638702e-04 9.99902794e-01 -1.89679840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44439141799998 meters 0.014055308374660222 Centerline is valid? [True, True] Translation: X:88.08, Y:-0.18, Z:-1.90 [[ 9.98832743e-01 4.64592157e-02 1.32171340e-02 8.80763324e+01] [-4.64546674e-02 9.98920187e-01 -6.51088691e-04 -1.81848537e-01] [-1.32331110e-02 3.63311392e-05 9.99912438e-01 -1.89671383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50439141799998 meters 0.014016191058741707 Centerline is valid? [True, True] Translation: X:88.13, Y:-0.19, Z:-1.90 [[ 9.98815642e-01 4.68619895e-02 1.30868731e-02 8.81344945e+01] [-4.68575731e-02 9.98901373e-01 -6.44058587e-04 -1.92079881e-01] [-1.31026774e-02 3.00766765e-05 9.99914156e-01 -1.90357856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56439141799999 meters 0.015303477566138543 Centerline is valid? [True, True] Translation: X:88.19, Y:-0.20, Z:-1.90 [[ 9.99171402e-01 3.77240858e-02 1.52774973e-02 8.81920385e+01] [-3.77170185e-02 9.99288178e-01 -7.50564456e-04 -2.04871547e-01] [-1.52949368e-02 1.73720893e-04 9.99883011e-01 -1.90206529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62439141799999 meters 0.019014669952431288 Centerline is valid? [True, True] Translation: X:88.25, Y:-0.22, Z:-1.90 [[ 9.99555533e-01 2.58191405e-02 1.49032907e-02 8.82511719e+01] [-2.58111253e-02 9.99666571e-01 -7.29945175e-04 -2.19118706e-01] [-1.49171680e-02 3.44950036e-04 9.99888673e-01 -1.90070883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68439141799999 meters 0.023891626481643863 Centerline is valid? [True, True] Translation: X:88.31, Y:-0.24, Z:-1.90 [[ 9.99794792e-01 1.41364299e-02 1.45098456e-02 8.83106071e+01] [-1.41276094e-02 9.99899948e-01 -7.10221508e-04 -2.36258059e-01] [-1.45184339e-02 5.05086334e-04 9.99894474e-01 -1.90359733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74439141799998 meters 0.029681463069906915 Centerline is valid? [True, True] Translation: X:88.37, Y:-0.25, Z:-1.91 [[ 9.99874599e-01 5.22016441e-03 1.49511265e-02 8.83692532e+01] [-5.20980385e-03 9.99986161e-01 -7.31826798e-04 -2.51673704e-01] [-1.49547398e-02 6.53842590e-04 9.99887958e-01 -1.90706602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80439141799998 meters 0.03389598531056305 Centerline is valid? [True, True] Translation: X:88.43, Y:-0.26, Z:-1.91 [[ 9.99856545e-01 -2.66870646e-03 1.67262429e-02 8.84296563e+01] [ 2.68277893e-03 9.99996066e-01 -8.18959039e-04 -2.64066147e-01] [-1.67239915e-02 8.63714367e-04 9.99859771e-01 -1.90780122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86439141799998 meters 0.036959768956196924 Centerline is valid? [True, True] Translation: X:88.49, Y:-0.27, Z:-1.91 [[ 9.99819574e-01 -8.21388795e-03 1.71275137e-02 8.84899720e+01] [ 8.22945589e-03 9.99965786e-01 -8.38660260e-04 -2.71474092e-01] [-1.71200390e-02 9.79459062e-04 9.99852962e-01 -1.90728645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92439141799998 meters 0.04008662765443617 Centerline is valid? [True, True] Translation: X:88.55, Y:-0.27, Z:-1.91 [[ 9.99819825e-01 -1.07089845e-02 1.56727661e-02 8.85501515e+01] [ 1.07223245e-02 9.99942220e-01 -7.67375115e-04 -2.74143461e-01] [-1.56636427e-02 9.35285337e-04 9.99876880e-01 -1.90812006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98439141799999 meters 0.038932513390804224 Centerline is valid? [True, True] Translation: X:88.61, Y:-0.27, Z:-1.91 [[ 9.99795498e-01 -1.17949296e-02 1.64268596e-02 8.86125525e+01] [ 1.18097305e-02 9.99929939e-01 -8.04301999e-04 -2.71440907e-01] [-1.64162220e-02 9.98134302e-04 9.99864747e-01 -1.90976955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04439141799999 meters 0.03995571728811713 Centerline is valid? [True, True] Translation: X:88.67, Y:-0.28, Z:-1.91 [[ 9.99707910e-01 -1.46100904e-02 1.92520316e-02 8.86730825e+01] [ 1.46309782e-02 9.99892515e-01 -9.44555232e-04 -2.76851705e-01] [-1.92361623e-02 1.22595539e-03 9.99814216e-01 -1.91124994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10439141799998 meters 0.04076273317980735 Centerline is valid? [True, True] Translation: X:88.74, Y:-0.28, Z:-1.92 [[ 9.99718190e-01 -1.52767848e-02 1.81703325e-02 8.87351272e+01] [ 1.52955152e-02 9.99882619e-01 -8.92287598e-04 -2.77637060e-01] [-1.81545684e-02 1.16996074e-03 9.99834508e-01 -1.91502647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16439141799998 meters 0.04255809268865555 Centerline is valid? [True, True] Translation: X:88.79, Y:-0.27, Z:-1.92 [[ 9.99773033e-01 -1.12584119e-02 1.80867536e-02 8.87949202e+01] [ 1.12763490e-02 9.99936024e-01 -8.90045143e-04 -2.72755353e-01] [-1.80755760e-02 1.09379568e-03 9.99836025e-01 -1.91513932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22439141799998 meters 0.038741950791491175 Centerline is valid? [True, True] Translation: X:88.86, Y:-0.27, Z:-1.91 [[ 9.99781321e-01 -6.64556996e-03 1.98279490e-02 8.88565984e+01] [ 6.66621362e-03 9.99977305e-01 -9.75224968e-04 -2.65141028e-01] [-1.98210181e-02 1.10718905e-03 9.99802931e-01 -1.91360629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28439141799998 meters 0.03783056546744467 Centerline is valid? [True, True] Translation: X:88.92, Y:-0.26, Z:-1.92 [[ 9.99804975e-01 -4.27079304e-03 1.92814194e-02 8.89186024e+01] [ 4.28987518e-03 9.99990349e-01 -9.48411560e-04 -2.64378387e-01] [-1.92771828e-02 1.03094148e-03 9.99813646e-01 -1.91749780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34439141799999 meters 0.030774347496563957 Centerline is valid? [True, True] Translation: X:88.98, Y:-0.25, Z:-1.92 [[ 9.99838470e-01 1.53671946e-03 1.79073322e-02 8.89805892e+01] [-1.52116912e-03 9.99998454e-01 -8.81967254e-04 -2.47239497e-01] [-1.79086599e-02 8.54584709e-04 9.99839262e-01 -1.92155086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40439141799999 meters 0.03085093490069563 Centerline is valid? [True, True] Translation: X:89.04, Y:-0.24, Z:-1.92 [[ 9.99762287e-01 7.27516767e-03 2.05533631e-02 8.90406886e+01] [-7.25588588e-03 9.99973163e-01 -1.01255229e-03 -2.42547084e-01] [-2.05601780e-02 8.63178736e-04 9.99788245e-01 -1.92086483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46439141799998 meters 0.025577060348014977 Centerline is valid? [True, True] Translation: X:89.10, Y:-0.23, Z:-1.92 [[ 9.99630262e-01 1.57479688e-02 2.21662138e-02 8.91025725e+01] [-1.57276211e-02 9.99875717e-01 -1.09200473e-03 -2.28285056e-01] [-2.21806557e-02 7.42979160e-04 9.99753703e-01 -1.91668946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52439141799998 meters 0.021723111088817765 Centerline is valid? [True, True] Translation: X:89.16, Y:-0.22, Z:-1.92 [[ 9.99544498e-01 2.31285130e-02 1.93873385e-02 8.91630798e+01] [-2.31143329e-02 9.99732372e-01 -9.55206014e-04 -2.19674240e-01] [-1.94042424e-02 5.06645519e-04 9.99811592e-01 -1.92052654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58439141799998 meters 0.020257275415387268 Centerline is valid? [True, True] Translation: X:89.23, Y:-0.22, Z:-1.92 [[ 9.99448099e-01 2.69121248e-02 1.94739752e-02 8.92256155e+01] [-2.68985487e-02 9.99637709e-01 -9.58792485e-04 -2.19799782e-01] [-1.94927231e-02 4.34441657e-04 9.99809904e-01 -1.92371062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64439141799998 meters 0.01836945741871321 Centerline is valid? [True, True] Translation: X:89.29, Y:-0.22, Z:-1.93 [[ 9.99325801e-01 3.20292859e-02 1.79462364e-02 8.92868184e+01] [-3.20184864e-02 9.99486882e-01 -8.88850390e-04 -2.16232924e-01] [-1.79654971e-02 3.13639801e-04 9.99838558e-01 -1.92783047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70439141799999 meters 0.01674834713944786 Centerline is valid? [True, True] Translation: X:89.35, Y:-0.21, Z:-1.92 [[ 9.99128815e-01 3.69782518e-02 1.93447465e-02 8.93466333e+01] [-3.69666111e-02 9.99316041e-01 -9.59115501e-04 -2.09787376e-01] [-1.93669819e-02 2.43170212e-04 9.99812413e-01 -1.92499374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76439141799999 meters 0.015710208966858014 Centerline is valid? [True, True] Translation: X:89.41, Y:-0.21, Z:-1.92 [[ 9.99026321e-01 3.94416846e-02 1.97677442e-02 8.94070249e+01] [-3.94300269e-02 9.99221854e-01 -9.79295574e-04 -2.07150721e-01] [-1.97909871e-02 1.98899369e-04 9.99804119e-01 -1.92465240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82439141799999 meters 0.016250791625394282 Centerline is valid? [True, True] Translation: X:89.47, Y:-0.21, Z:-1.93 [[ 9.99121285e-01 3.63560329e-02 2.08541831e-02 8.94665762e+01] [-3.63423951e-02 9.99338863e-01 -1.03269998e-03 -2.13433795e-01] [-2.08779405e-02 2.73901574e-04 9.99781995e-01 -1.92510379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88439141799998 meters 0.017863684698796695 Centerline is valid? [True, True] Translation: X:89.53, Y:-0.23, Z:-1.93 [[ 9.99320660e-01 3.11626383e-02 1.96750599e-02 8.95264204e+01] [-3.11495097e-02 9.99514262e-01 -9.73458105e-04 -2.26075112e-01] [-1.96958385e-02 3.59928328e-04 9.99805953e-01 -1.92864316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94439141799998 meters 0.01856185814549723 Centerline is valid? [True, True] Translation: X:89.59, Y:-0.23, Z:-1.93 [[ 9.99453870e-01 2.94635338e-02 1.49620221e-02 8.95877054e+01] [-2.94557560e-02 9.99565811e-01 -7.39987045e-04 -2.30237457e-01] [-1.49773284e-02 2.98865242e-04 9.99887789e-01 -1.93431078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00439141799998 meters 0.020310452164852225 Centerline is valid? [True, True] Translation: X:89.65, Y:-0.24, Z:-1.93 [[ 9.99529138e-01 2.61393611e-02 1.60697420e-02 8.96470676e+01] [-2.61299446e-02 9.99658238e-01 -7.95699730e-04 -2.37589120e-01] [-1.60850491e-02 3.75423596e-04 9.99870557e-01 -1.93418469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06439141799999 meters 0.022082924664206253 Centerline is valid? [True, True] Translation: X:89.71, Y:-0.25, Z:-1.93 [[ 9.99493436e-01 2.27856718e-02 2.22189995e-02 8.97077275e+01] [-2.27668365e-02 9.99740196e-01 -1.10033429e-03 -2.51993595e-01] [-2.22382988e-02 5.93920573e-04 9.99752522e-01 -1.92727623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12439141799999 meters 0.020803695451164957 Centerline is valid? [True, True] Translation: X:89.77, Y:-0.25, Z:-1.93 [[ 9.99564117e-01 2.34997386e-02 1.78700152e-02 8.97703326e+01] [-2.34876818e-02 9.99723735e-01 -8.84306892e-04 -2.52942663e-01] [-1.78858594e-02 4.64196207e-04 9.99839927e-01 -1.93233907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18439141799999 meters 0.02016713526724942 Centerline is valid? [True, True] Translation: X:89.83, Y:-0.26, Z:-1.94 [[ 9.99522546e-01 2.69572972e-02 1.50991746e-02 8.98318305e+01] [-2.69490220e-02 9.99636527e-01 -7.51291269e-04 -2.57225902e-01] [-1.51139392e-02 3.44024572e-04 9.99885719e-01 -1.93982116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24439141799998 meters 0.01892233870478224 Centerline is valid? [True, True] Translation: X:89.89, Y:-0.26, Z:-1.94 [[ 9.99397113e-01 3.05240679e-02 1.65436176e-02 8.98924239e+01] [-3.05145110e-02 9.99533979e-01 -8.29860634e-04 -2.62612277e-01] [-1.65612387e-02 3.24539921e-04 9.99862801e-01 -1.94047192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30439141799998 meters 0.01753338111950129 Centerline is valid? [True, True] Translation: X:89.95, Y:-0.26, Z:-1.94 [[ 9.99212405e-01 3.62662849e-02 1.61036323e-02 8.99527959e+01] [-3.62579749e-02 9.99342137e-01 -8.07790101e-04 -2.57946872e-01] [-1.61223339e-02 2.23268793e-04 9.99870002e-01 -1.93936492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36439141799998 meters 0.015383385958160679 Centerline is valid? [True, True] Translation: X:90.01, Y:-0.25, Z:-1.94 [[ 9.98839780e-01 4.54246910e-02 1.59903502e-02 9.00125922e+01] [-4.54176646e-02 9.98967763e-01 -8.02473902e-04 -2.47781584e-01] [-1.60102965e-02 7.52984953e-05 9.99871824e-01 -1.93781628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42439141799998 meters 0.01531606116549056 Centerline is valid? [True, True] Translation: X:90.07, Y:-0.25, Z:-1.94 [[ 9.98615028e-01 4.99484301e-02 1.65281765e-02 9.00705118e+01] [-4.99415564e-02 9.98751798e-01 -8.28626023e-04 -2.53396392e-01] [-1.65489346e-02 2.03554066e-06 9.99863057e-01 -1.94241958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48439141799999 meters 0.015525560060917072 Centerline is valid? [True, True] Translation: X:90.13, Y:-0.26, Z:-1.95 [[ 9.98373884e-01 5.49514816e-02 1.51631865e-02 9.01290660e+01] [-5.49462954e-02 9.98489023e-01 -7.58737345e-04 -2.57618723e-01] [-1.51819690e-02 -7.56573755e-05 9.99884744e-01 -1.94638346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54439141799999 meters 0.01610054185667748 Centerline is valid? [True, True] Translation: X:90.19, Y:-0.26, Z:-1.94 [[ 9.98218554e-01 5.76764574e-02 1.52690939e-02 9.01881559e+01] [-5.76715359e-02 9.98335320e-01 -7.62813401e-04 -2.55056986e-01] [-1.52876722e-02 -1.19137609e-04 9.99883130e-01 -1.94367856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60439141799998 meters 0.01580111041385985 Centerline is valid? [True, True] Translation: X:90.25, Y:-0.26, Z:-1.94 [[ 9.98299889e-01 5.60949299e-02 1.58332106e-02 9.02451368e+01] [-5.60894581e-02 9.98425435e-01 -7.89796398e-04 -2.63618314e-01] [-1.58525838e-02 -9.96225465e-05 9.99874335e-01 -1.94450877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66439141799998 meters 0.015337712759323986 Centerline is valid? [True, True] Translation: X:90.30, Y:-0.29, Z:-1.95 [[ 9.98725624e-01 4.83100602e-02 1.46036338e-02 9.03026202e+01] [-4.83045933e-02 9.98832387e-01 -7.27053927e-04 -2.85711309e-01] [-1.46217064e-02 2.07047949e-05 9.99893097e-01 -1.94973022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72439141799998 meters 0.017868934901199562 Centerline is valid? [True, True] Translation: X:90.36, Y:-0.29, Z:-1.95 [[ 9.98847542e-01 4.62282919e-02 1.29047233e-02 9.03613978e+01] [-4.62238587e-02 9.98930900e-01 -6.41745402e-04 -2.92031199e-01] [-1.29205936e-02 4.44997120e-05 9.99916525e-01 -1.95337142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78439141799998 meters 0.01611989659505077 Centerline is valid? [True, True] Translation: X:90.42, Y:-0.30, Z:-1.95 [[ 9.99083515e-01 4.08002450e-02 1.29410026e-02 9.04192278e+01] [-4.07953413e-02 9.99167317e-01 -6.42783597e-04 -2.98064781e-01] [-1.29564526e-02 1.14261876e-04 9.99916055e-01 -1.95273195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84439141799999 meters 0.017685599576237845 Centerline is valid? [True, True] Translation: X:90.48, Y:-0.31, Z:-1.95 [[ 9.99253676e-01 3.51152330e-02 1.60938329e-02 9.04774816e+01] [-3.51069525e-02 9.99383243e-01 -7.96833732e-04 -3.13590503e-01] [-1.61118880e-02 2.31233607e-04 9.99870168e-01 -1.95084333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90439141799999 meters 0.020093452589543644 Centerline is valid? [True, True] Translation: X:90.54, Y:-0.33, Z:-1.95 [[ 9.99478114e-01 2.77935271e-02 1.64626618e-02 9.05373736e+01] [-2.77838981e-02 9.99613622e-01 -8.13370502e-04 -3.29159586e-01] [-1.64789074e-02 3.55549098e-04 9.99864150e-01 -1.95078966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96439141799998 meters 0.023366777798824158 Centerline is valid? [True, True] Translation: X:90.60, Y:-0.34, Z:-1.95 [[ 9.99661216e-01 2.09472367e-02 1.54488145e-02 9.05976668e+01] [-2.09379421e-02 9.99780486e-01 -7.63152581e-04 -3.40486411e-01] [-1.54614092e-02 4.39427654e-04 9.99880369e-01 -1.95287049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02439141799998 meters 0.024982354940044037 Centerline is valid? [True, True] Translation: X:90.66, Y:-0.35, Z:-1.96 [[ 9.99696163e-01 1.92866623e-02 1.53494490e-02 9.06577834e+01] [-1.92772985e-02 9.99813888e-01 -7.57777338e-04 -3.53624558e-01] [-1.53612073e-02 4.61651187e-04 9.99881903e-01 -1.95636897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08439141799998 meters 0.02341033300990935 Centerline is valid? [True, True] Translation: X:90.72, Y:-0.36, Z:-1.96 [[ 9.99658468e-01 2.15586903e-02 1.47705773e-02 9.07196632e+01] [-2.15502543e-02 9.99767500e-01 -7.30075625e-04 -3.62815920e-01] [-1.47828826e-02 4.11516583e-04 9.99890643e-01 -1.95883035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14439141799998 meters 0.01888074616268061 Centerline is valid? [True, True] Translation: X:90.78, Y:-0.35, Z:-1.96 [[ 9.99438583e-01 3.05048004e-02 1.38555066e-02 9.07807338e+01] [-3.04981595e-02 9.99534585e-01 -6.90388973e-04 -3.53598308e-01] [-1.38701182e-02 2.67433928e-04 9.99903770e-01 -1.95825351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20439141799999 meters 0.016770465059786938 Centerline is valid? [True, True] Translation: X:90.84, Y:-0.35, Z:-1.96 [[ 9.99212247e-01 3.66398822e-02 1.52448461e-02 9.08412218e+01] [-3.66325518e-02 9.99328514e-01 -7.59906934e-04 -3.51540639e-01] [-1.52624523e-02 2.00850700e-04 9.99883502e-01 -1.95754321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26439141799999 meters 0.01615723616977308 Centerline is valid? [True, True] Translation: X:90.90, Y:-0.36, Z:-1.96 [[ 9.99033544e-01 4.09859420e-02 1.58786091e-02 9.09007361e+01] [-4.09785497e-02 9.99159714e-01 -7.90771964e-04 -3.59359960e-01] [-1.58976770e-02 1.39325348e-04 9.99873614e-01 -1.96110907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32439141799998 meters 0.017595151533175844 Centerline is valid? [True, True] Translation: X:90.96, Y:-0.36, Z:-1.97 [[ 9.99090684e-01 4.04799682e-02 1.33856900e-02 9.09614935e+01] [-4.04746799e-02 9.99180343e-01 -6.65847242e-04 -3.62273584e-01] [-1.34016718e-02 1.23460259e-04 9.99910186e-01 -1.96588761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38439141799998 meters 0.017456905234680308 Centerline is valid? [True, True] Translation: X:91.02, Y:-0.37, Z:-1.96 [[ 9.99311444e-01 3.47814307e-02 1.29185982e-02 9.10206024e+01] [-3.47760215e-02 9.99394924e-01 -6.43181522e-04 -3.66213297e-01] [-1.29331522e-02 1.93481208e-04 9.99916345e-01 -1.96387435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44439141799998 meters 0.02132752769829169 Centerline is valid? [True, True] Translation: X:91.08, Y:-0.39, Z:-1.97 [[ 9.99584054e-01 2.55998618e-02 1.32802953e-02 9.10806829e+01] [-2.55933564e-02 9.99672219e-01 -6.59607807e-04 -3.86470213e-01] [-1.32928281e-02 3.19446116e-04 9.99911595e-01 -1.96642321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50439141799998 meters 0.024679770857951713 Centerline is valid? [True, True] Translation: X:91.14, Y:-0.39, Z:-1.97 [[ 9.99738424e-01 2.06349696e-02 9.86316474e-03 9.11411326e+01] [-2.06311434e-02 9.99787035e-01 -4.89531597e-04 -3.92899033e-01] [-9.87116571e-03 2.85915182e-04 9.99951238e-01 -1.97056657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56439141799999 meters 0.02770882564902204 Centerline is valid? [True, True] Translation: X:91.20, Y:-0.40, Z:-1.97 [[ 9.99845216e-01 1.24739497e-02 1.24074121e-02 9.12023259e+01] [-1.24672503e-02 9.99922090e-01 -6.17149123e-04 -3.97258662e-01] [-1.24141438e-02 4.62367285e-04 9.99922835e-01 -1.96742051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62439141799999 meters 0.033210500477735716 Centerline is valid? [True, True] Translation: X:91.26, Y:-0.42, Z:-1.97 [[ 9.99877779e-01 1.39234561e-03 1.55720598e-02 9.12626473e+01] [-1.38044676e-03 9.99998747e-01 -7.74838247e-04 -4.16031378e-01] [-1.55731191e-02 7.53247146e-04 9.99878448e-01 -1.96691780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68439141799999 meters 0.039738178608816406 Centerline is valid? [True, True] Translation: X:91.32, Y:-0.43, Z:-1.97 [[ 9.99852523e-01 -6.74163406e-03 1.57950263e-02 9.13219075e+01] [ 6.75489215e-03 9.99976876e-01 -7.86183391e-04 -4.28366640e-01] [-1.57893609e-02 8.92761146e-04 9.99874942e-01 -1.96673502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74439141799998 meters 0.04692621706889485 Centerline is valid? [True, True] Translation: X:91.38, Y:-0.43, Z:-1.97 [[ 9.99797463e-01 -1.79347353e-02 9.13115334e-03 9.13822066e+01] [ 1.79396402e-02 9.99838968e-01 -4.55534167e-04 -4.32394078e-01] [-9.12151305e-03 6.19251511e-04 9.99958206e-01 -1.97308819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80439141799998 meters 0.05111574493237788 Centerline is valid? [True, True] Translation: X:91.44, Y:-0.44, Z:-1.98 [[ 9.99733961e-01 -2.18643961e-02 7.34540141e-03 9.14423191e+01] [ 2.18676759e-02 9.99760807e-01 -3.66476828e-04 -4.41097103e-01] [-7.33563164e-03 5.27006188e-04 9.99972955e-01 -1.97896537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86439141799998 meters 0.04043804498636947 Centerline is valid? [True, True] Translation: X:91.50, Y:-0.43, Z:-1.98 [[ 9.99770536e-01 -1.98005114e-02 8.17402766e-03 9.15042736e+01] [ 1.98045002e-02 9.99803789e-01 -4.07317903e-04 -4.26726051e-01] [-8.16435872e-03 5.69106971e-04 9.99966509e-01 -1.97598684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92439141799998 meters 0.04675572544492044 Centerline is valid? [True, True] Translation: X:91.56, Y:-0.42, Z:-1.97 [[ 9.99858666e-01 -1.26091590e-02 1.11201678e-02 9.15638701e+01] [ 1.26161155e-02 9.99920259e-01 -5.55653358e-04 -4.23109606e-01] [-1.11122748e-02 6.95868147e-04 9.99938015e-01 -1.97266897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98439141799999 meters 0.03629438900573272 Centerline is valid? [True, True] Translation: X:91.63, Y:-0.41, Z:-1.98 [[ 9.99919912e-01 -7.91790366e-03 9.87304346e-03 9.16256412e+01] [ 7.92315266e-03 9.99968490e-01 -4.92648399e-04 -4.07687753e-01] [-9.86883162e-03 5.70834574e-04 9.99951139e-01 -1.97520659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04439141799999 meters 0.03638675750673252 Centerline is valid? [True, True] Translation: X:91.69, Y:-0.41, Z:-1.98 [[ 9.99953717e-01 -5.24372715e-03 8.06639772e-03 9.16860729e+01] [ 5.24714253e-03 9.99986153e-01 -4.02303421e-04 -4.10724910e-01] [-8.06417646e-03 4.44610340e-04 9.99967385e-01 -1.98138958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10439141799998 meters 0.034394283216099664 Centerline is valid? [True, True] Translation: X:91.75, Y:-0.40, Z:-1.98 [[ 9.99965163e-01 -2.45031335e-03 7.97926312e-03 9.17483696e+01] [ 2.45356691e-03 9.99996911e-01 -3.97988190e-04 -4.01354297e-01] [-7.97826327e-03 4.17551981e-04 9.99968086e-01 -1.98019778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16439141799998 meters 0.028286519483576685 Centerline is valid? [True, True] Translation: X:91.81, Y:-0.38, Z:-1.98 [[ 9.99940939e-01 6.61994780e-03 8.61942656e-03 9.18097454e+01] [-6.61647488e-03 9.99978018e-01 -4.31371147e-04 -3.80164636e-01] [-8.62209274e-03 3.74315451e-04 9.99962759e-01 -1.97757622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22439141799998 meters 0.025592949297554828 Centerline is valid? [True, True] Translation: X:91.87, Y:-0.37, Z:-1.98 [[ 9.99864384e-01 1.37039923e-02 9.13314490e-03 9.18707862e+01] [-1.37003897e-02 9.99906041e-01 -4.56909389e-04 -3.74085165e-01] [-9.13854824e-03 3.31719781e-04 9.99958188e-01 -1.98041898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28439141799998 meters 0.02258866390203636 Centerline is valid? [True, True] Translation: X:91.93, Y:-0.36, Z:-1.98 [[ 9.99724609e-01 2.06888551e-02 1.10759710e-02 9.19318130e+01] [-2.06839817e-02 9.99785910e-01 -5.54380620e-04 -3.64489081e-01] [-1.10850693e-02 3.25132767e-04 9.99938506e-01 -1.98030628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34439141799999 meters 0.021412488084428645 Centerline is valid? [True, True] Translation: X:91.99, Y:-0.36, Z:-1.98 [[ 9.99649254e-01 2.41557129e-02 1.08568008e-02 9.19921867e+01] [-2.41512291e-02 9.99708169e-01 -5.43924033e-04 -3.58626802e-01] [-1.08667713e-02 2.81528171e-04 9.99940915e-01 -1.98231732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40439141799999 meters 0.01931026548777738 Centerline is valid? [True, True] Translation: X:92.05, Y:-0.36, Z:-1.98 [[ 9.99594063e-01 2.62315267e-02 1.11183051e-02 9.20525639e+01] [-2.62269618e-02 9.99655859e-01 -5.56209075e-04 -3.56348188e-01] [-1.11290690e-02 2.64383927e-04 9.99938035e-01 -1.98277870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46439141799998 meters 0.018051576412082063 Centerline is valid? [True, True] Translation: X:92.11, Y:-0.35, Z:-1.98 [[ 9.99487131e-01 2.96270456e-02 1.21537479e-02 9.21123385e+01] [-2.96218428e-02 9.99560992e-01 -6.07916776e-04 -3.50661378e-01] [-1.21664231e-02 2.47588585e-04 9.99925956e-01 -1.98133095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52439141799998 meters 0.01886880862853924 Centerline is valid? [True, True] Translation: X:92.17, Y:-0.36, Z:-1.99 [[ 9.99521580e-01 2.88349206e-02 1.11874169e-02 9.21709913e+01] [-2.88304646e-02 9.99584159e-01 -5.59409085e-04 -3.56638322e-01] [-1.11988952e-02 2.36603027e-04 9.99937262e-01 -1.98718627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58439141799998 meters 0.01924988127766273 Centerline is valid? [True, True] Translation: X:92.23, Y:-0.36, Z:-1.99 [[ 9.99594008e-01 2.58432296e-02 1.19977884e-02 9.22302973e+01] [-2.58379012e-02 9.99665966e-01 -5.98939605e-04 -3.64662339e-01] [-1.20092592e-02 2.88698770e-04 9.99927845e-01 -1.98904326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64439141799998 meters 0.01986913975689643 Centerline is valid? [True, True] Translation: X:92.29, Y:-0.37, Z:-1.99 [[ 9.99633885e-01 2.41983834e-02 1.21050985e-02 9.22900239e+01] [-2.41928447e-02 9.99707128e-01 -6.03799452e-04 -3.68254985e-01] [-1.21161642e-02 3.10721625e-04 9.99926548e-01 -1.98930674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70439141799999 meters 0.022146121810244352 Centerline is valid? [True, True] Translation: X:92.35, Y:-0.37, Z:-1.99 [[ 9.99719330e-01 2.02277054e-02 1.23329152e-02 9.23494154e+01] [-2.02216631e-02 9.99795332e-01 -6.14450651e-04 -3.67556413e-01] [-1.23428199e-02 3.64886137e-04 9.99923758e-01 -1.98637553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76439141799999 meters 0.02256661501972898 Centerline is valid? [True, True] Translation: X:92.41, Y:-0.38, Z:-1.99 [[ 9.99766465e-01 1.81813974e-02 1.16812526e-02 9.24097532e+01] [-1.81758421e-02 9.99834637e-01 -5.81570663e-04 -3.77042020e-01] [-1.16898948e-02 3.69118242e-04 9.99931603e-01 -1.99090734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82439141799998 meters 0.024746463215890333 Centerline is valid? [True, True] Translation: X:92.47, Y:-0.39, Z:-2.00 [[ 9.99795943e-01 1.72690799e-02 1.04809749e-02 9.24695478e+01] [-1.72645599e-02 9.99850820e-01 -5.21585483e-04 -3.86792417e-01] [-1.04884187e-02 3.40529631e-04 9.99944937e-01 -1.99691971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88439141799998 meters 0.023719227510634506 Centerline is valid? [True, True] Translation: X:92.53, Y:-0.39, Z:-1.99 [[ 9.99775947e-01 1.70879866e-02 1.24922272e-02 9.25302045e+01] [-1.70815448e-02 9.99853906e-01 -6.22192485e-04 -3.86468078e-01] [-1.25010342e-02 4.08666542e-04 9.99921776e-01 -1.99409266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94439141799998 meters 0.023108664003513038 Centerline is valid? [True, True] Translation: X:92.59, Y:-0.39, Z:-1.99 [[ 9.99738676e-01 1.89392513e-02 1.28017332e-02 9.25918464e+01] [-1.89326425e-02 9.99820558e-01 -6.37249315e-04 -3.88221170e-01] [-1.28115050e-02 3.94712149e-04 9.99917851e-01 -1.99336508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00439141799998 meters 0.021607472270079118 Centerline is valid? [True, True] Translation: X:92.65, Y:-0.39, Z:-2.00 [[ 9.99690559e-01 2.22021059e-02 1.12184215e-02 9.26525660e+01] [-2.21972323e-02 9.99753455e-01 -5.58766852e-04 -3.93163900e-01] [-1.12280615e-02 3.09576037e-04 9.99936915e-01 -1.99884529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06439141799999 meters 0.020930911140858908 Centerline is valid? [True, True] Translation: X:92.71, Y:-0.40, Z:-2.00 [[ 9.99632627e-01 2.42794431e-02 1.20465908e-02 9.27119298e+01] [-2.42739584e-02 9.99705163e-01 -6.01313026e-04 -3.97052903e-01] [-1.20576385e-02 3.08673677e-04 9.99927256e-01 -2.00187177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12439141799999 meters 0.018530717206344555 Centerline is valid? [True, True] Translation: X:92.77, Y:-0.40, Z:-2.00 [[ 9.99518393e-01 2.74249635e-02 1.45208100e-02 9.27715680e+01] [-2.74173364e-02 9.99623812e-01 -7.24098321e-04 -3.95217935e-01] [-1.45352059e-02 3.25627656e-04 9.99894305e-01 -1.99914069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18439141799999 meters 0.015776192379086857 Centerline is valid? [True, True] Translation: X:92.83, Y:-0.39, Z:-2.00 [[ 9.99332485e-01 3.39110246e-02 1.35877565e-02 9.28316496e+01] [-3.39049519e-02 9.99424832e-01 -6.77098393e-04 -3.92665130e-01] [-1.36029023e-02 2.15954189e-04 9.99907453e-01 -1.99956923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24439141799998 meters 0.014967909841719307 Centerline is valid? [True, True] Translation: X:92.89, Y:-0.40, Z:-2.01 [[ 9.99187201e-01 3.85520332e-02 1.17761970e-02 9.28892554e+01] [-3.85477912e-02 9.99256585e-01 -5.87072958e-04 -3.95520215e-01] [-1.17900753e-02 1.32649402e-04 9.99930486e-01 -2.00572884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30439141799998 meters 0.014307939266152526 Centerline is valid? [True, True] Translation: X:92.95, Y:-0.40, Z:-2.01 [[ 9.99112784e-01 3.97193076e-02 1.40007991e-02 9.29478294e+01] [-3.97134539e-02 9.99210867e-01 -6.95981514e-04 -3.99087390e-01] [-1.40173946e-02 1.39343937e-04 9.99901742e-01 -2.00517827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36439141799998 meters 0.014508539362788096 Centerline is valid? [True, True] Translation: X:93.01, Y:-0.40, Z:-2.00 [[ 9.99058364e-01 3.99255516e-02 1.69804460e-02 9.30066781e+01] [-3.99170002e-02 9.99202644e-01 -8.42370513e-04 -4.02703319e-01] [-1.70005387e-02 1.63768839e-04 9.99855467e-01 -2.00217722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42439141799998 meters 0.014913833051643599 Centerline is valid? [True, True] Translation: X:93.07, Y:-0.41, Z:-2.01 [[ 9.99176584e-01 3.77726455e-02 1.48115297e-02 9.30659426e+01] [-3.77659208e-02 9.99286344e-01 -7.33557470e-04 -4.08521883e-01] [-1.48286678e-02 1.73582389e-04 9.99890034e-01 -2.00574656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48439141799999 meters 0.016960525872390848 Centerline is valid? [True, True] Translation: X:93.13, Y:-0.42, Z:-2.01 [[ 9.99415791e-01 2.97620269e-02 1.68017543e-02 9.31251932e+01] [-2.97522544e-02 9.99556958e-01 -8.31357173e-04 -4.21218132e-01] [-1.68190533e-02 3.30981419e-04 9.99858495e-01 -2.00664211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54439141799999 meters 0.020302339218391776 Centerline is valid? [True, True] Translation: X:93.19, Y:-0.43, Z:-2.01 [[ 9.99485505e-01 2.54267958e-02 1.95499998e-02 9.31858769e+01] [-2.54127567e-02 9.99676577e-01 -9.66249358e-04 -4.29397226e-01] [-1.95682455e-02 4.68932839e-04 9.99808414e-01 -2.00619899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60439141799998 meters 0.021841250770314423 Centerline is valid? [True, True] Translation: X:93.25, Y:-0.44, Z:-2.00 [[ 9.99582304e-01 2.06256528e-02 2.02435129e-02 9.32465536e+01] [-2.06096116e-02 9.99787099e-01 -1.00074438e-03 -4.36760582e-01] [-2.02598441e-02 5.83115439e-04 9.99794578e-01 -2.00377942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66439141799998 meters 0.022204611668223427 Centerline is valid? [True, True] Translation: X:93.31, Y:-0.44, Z:-2.01 [[ 9.99651435e-01 2.04283506e-02 1.67239555e-02 9.33086083e+01] [-2.04173566e-02 9.99791201e-01 -8.27875534e-04 -4.40436219e-01] [-1.67373756e-02 4.86128003e-04 9.99859802e-01 -2.00951851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72439141799998 meters 0.020110099361819036 Centerline is valid? [True, True] Translation: X:93.37, Y:-0.45, Z:-2.01 [[ 9.99558878e-01 2.32250628e-02 1.85106825e-02 9.33709694e+01] [-2.32119679e-02 9.99730141e-01 -9.21996615e-04 -4.45593430e-01] [-1.85271007e-02 4.91920535e-04 9.99828238e-01 -2.01214224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78439141799998 meters 0.01841083390616393 Centerline is valid? [True, True] Translation: X:93.43, Y:-0.44, Z:-2.01 [[ 9.99272203e-01 3.16971620e-02 2.12215683e-02 9.34323707e+01] [-3.16817074e-02 9.99497442e-01 -1.06414845e-03 -4.41435728e-01] [-2.12446337e-02 3.91038453e-04 9.99774231e-01 -2.00850395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84439141799999 meters 0.014662450422608494 Centerline is valid? [True, True] Translation: X:93.49, Y:-0.43, Z:-2.01 [[ 9.99029216e-01 3.92163776e-02 2.00674011e-02 9.34939851e+01] [-3.92040677e-02 9.99230718e-01 -1.00661141e-03 -4.34502814e-01] [-2.00914393e-02 2.18910457e-04 9.99798123e-01 -2.00858844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90439141799999 meters 0.013578908610192909 Centerline is valid? [True, True] Translation: X:93.55, Y:-0.43, Z:-2.02 [[ 9.98674143e-01 4.89065149e-02 1.60657889e-02 9.35530165e+01] [-4.88998631e-02 9.98803360e-01 -8.06837189e-04 -4.34441928e-01] [-1.60860235e-02 2.01525590e-05 9.99870611e-01 -2.01805235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96439141799998 meters 0.013667572321824771 Centerline is valid? [True, True] Translation: X:93.61, Y:-0.44, Z:-2.02 [[ 9.98465228e-01 5.27743094e-02 1.67946444e-02 9.36114127e+01] [-5.27675958e-02 9.98606464e-01 -8.42939550e-04 -4.39790686e-01] [-1.68157260e-02 -4.45671754e-05 9.99858605e-01 -2.02041035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02439141799998 meters 0.014053327141735603 Centerline is valid? [True, True] Translation: X:93.67, Y:-0.44, Z:-2.02 [[ 9.98315696e-01 5.51722842e-02 1.79385376e-02 9.36707075e+01] [-5.51650392e-02 9.98476845e-01 -8.98835856e-04 -4.36484558e-01] [-1.79608053e-02 -9.22581880e-05 9.99838687e-01 -2.01618571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08439141799998 meters 0.014531588865431391 Centerline is valid? [True, True] Translation: X:93.73, Y:-0.44, Z:-2.02 [[ 9.98128154e-01 5.86874998e-02 1.72036492e-02 9.37292355e+01] [-5.86813797e-02 9.98276392e-01 -8.60773084e-04 -4.40200117e-01] [-1.72245135e-02 -1.50372021e-04 9.99851636e-01 -2.01693868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14439141799998 meters 0.014584605075446585 Centerline is valid? [True, True] Translation: X:93.79, Y:-0.45, Z:-2.02 [[ 9.98128094e-01 5.89146110e-02 1.64126972e-02 9.37876783e+01] [-5.89090919e-02 9.98263015e-01 -8.19945863e-04 -4.49114607e-01] [-1.64324954e-02 -1.48446086e-04 9.99864966e-01 -2.02161588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20439141799999 meters 0.013802428946858002 Centerline is valid? [True, True] Translation: X:93.85, Y:-0.46, Z:-2.02 [[ 9.98357700e-01 5.37880228e-02 1.97167800e-02 9.38462748e+01] [-5.37790961e-02 9.98552373e-01 -9.83078414e-04 -4.59493526e-01] [-1.97411153e-02 -7.88867010e-05 9.99805122e-01 -2.02027848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26439141799999 meters 0.013716522067359226 Centerline is valid? [True, True] Translation: X:93.90, Y:-0.47, Z:-2.02 [[ 9.98684228e-01 4.69967945e-02 2.05210555e-02 9.39038224e+01] [-4.69857256e-02 9.98895039e-01 -1.02147580e-03 -4.72603691e-01] [-2.05463866e-02 5.59350884e-05 9.99788899e-01 -2.01884132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32439141799998 meters 0.014284420614610832 Centerline is valid? [True, True] Translation: X:93.96, Y:-0.48, Z:-2.02 [[ 9.98909819e-01 4.29062902e-02 1.83908873e-02 9.39626746e+01] [-4.28967403e-02 9.99079093e-01 -9.13626397e-04 -4.84089716e-01] [-1.84131513e-02 1.23721262e-04 9.99830456e-01 -2.02209934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38439141799998 meters 0.015526476022054786 Centerline is valid? [True, True] Translation: X:94.02, Y:-0.50, Z:-2.03 [[ 9.99200966e-01 3.61302575e-02 1.70890143e-02 9.40224579e+01] [-3.61210347e-02 9.99347063e-01 -8.48144019e-04 -4.98150932e-01] [-1.71084999e-02 2.30193446e-04 9.99853612e-01 -2.02537669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44439141799998 meters 0.017781457888761135 Centerline is valid? [True, True] Translation: X:94.08, Y:-0.51, Z:-2.03 [[ 9.99383427e-01 3.02233886e-02 1.78693472e-02 9.40820139e+01] [-3.02123616e-02 9.99543109e-01 -8.86789270e-04 -5.10593167e-01] [-1.78879846e-02 3.46367321e-04 9.99839937e-01 -2.02699692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50439141799998 meters 0.018628580330602704 Centerline is valid? [True, True] Translation: X:94.14, Y:-0.52, Z:-2.03 [[ 9.99466732e-01 2.78877881e-02 1.69859808e-02 9.41441108e+01] [-2.78775043e-02 9.99610992e-01 -8.41958387e-04 -5.20280584e-01] [-1.70028535e-02 3.67982646e-04 9.99855373e-01 -2.02936699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56439141799999 meters 0.018990189004033424 Centerline is valid? [True, True] Translation: X:94.21, Y:-0.53, Z:-2.03 [[ 9.99506227e-01 2.67776831e-02 1.64395216e-02 9.42065301e+01] [-2.67678279e-02 9.99641342e-01 -8.19270154e-04 -5.25707750e-01] [-1.64555636e-02 3.78815336e-04 9.99864526e-01 -2.03077579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62439141799999 meters 0.021475990092221592 Centerline is valid? [True, True] Translation: X:94.27, Y:-0.53, Z:-2.03 [[ 9.99667347e-01 2.17448799e-02 1.38692399e-02 9.42677501e+01] [-2.17373131e-02 9.99763474e-01 -6.96115894e-04 -5.33399369e-01] [-1.38810964e-02 3.94404319e-04 9.99903575e-01 -2.03281742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68439141799999 meters 0.02289595938613576 Centerline is valid? [True, True] Translation: X:94.33, Y:-0.54, Z:-2.03 [[ 9.99747235e-01 1.77838346e-02 1.37550328e-02 9.43289667e+01] [-1.77760207e-02 9.99841756e-01 -6.90141631e-04 -5.41968488e-01] [-1.37651295e-02 4.45457441e-04 9.99905157e-01 -2.03492801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74439141799998 meters 0.024185546947966343 Centerline is valid? [True, True] Translation: X:94.39, Y:-0.55, Z:-2.04 [[ 9.99734715e-01 1.82829725e-02 1.40082752e-02 9.43900917e+01] [-1.82749082e-02 9.99832752e-01 -7.03482602e-04 -5.51705816e-01] [-1.40187942e-02 4.47296036e-04 9.99901632e-01 -2.03791238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80439141799998 meters 0.02001284823804002 Centerline is valid? [True, True] Translation: X:94.45, Y:-0.55, Z:-2.04 [[ 9.99595203e-01 2.50004829e-02 1.35796076e-02 9.44509977e+01] [-2.49934375e-02 9.99687378e-01 -6.88314109e-04 -5.45557820e-01] [-1.35925705e-02 3.48634408e-04 9.99907556e-01 -2.03673528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86439141799998 meters 0.016411950548586865 Centerline is valid? [True, True] Translation: X:94.51, Y:-0.54, Z:-2.04 [[ 9.99173908e-01 3.81244024e-02 1.40723578e-02 9.45115820e+01] [-3.81181368e-02 9.99272985e-01 -7.13290305e-04 -5.37013517e-01] [-1.40893208e-02 1.76289000e-04 9.99900725e-01 -2.03744502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92439141799998 meters 0.014417652239369324 Centerline is valid? [True, True] Translation: X:94.57, Y:-0.54, Z:-2.04 [[ 9.98835394e-01 4.58248285e-02 1.50977053e-02 9.45719515e+01] [-4.58184898e-02 9.98949488e-01 -7.65655393e-04 -5.35431181e-01] [-1.51169310e-02 7.30096528e-05 9.99885730e-01 -2.03929985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98439141799999 meters 0.015602100825854634 Centerline is valid? [True, True] Translation: X:94.63, Y:-0.53, Z:-2.04 [[ 9.98574911e-01 5.10536125e-02 1.55459161e-02 9.46309174e+01] [-5.10475370e-02 9.98695914e-01 -7.87634353e-04 -5.30301059e-01] [-1.55658544e-02 -7.06882218e-06 9.99878845e-01 -2.03981507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04439141799999 meters 0.014250091460411068 Centerline is valid? [True, True] Translation: X:94.69, Y:-0.54, Z:-2.04 [[ 9.98790844e-01 4.63404240e-02 1.64138838e-02 9.46891355e+01] [-4.63330383e-02 9.98925703e-01 -8.30163907e-04 -5.38473131e-01] [-1.64347206e-02 6.86550025e-05 9.99864939e-01 -2.04007670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10439141799998 meters 0.017680471064966383 Centerline is valid? [True, True] Translation: X:94.75, Y:-0.55, Z:-2.04 [[ 9.99153487e-01 3.83165267e-02 1.49717780e-02 9.47470870e+01] [-3.83094999e-02 9.99265636e-01 -7.55956729e-04 -5.54287020e-01] [-1.49897489e-02 1.81755475e-04 9.99887631e-01 -2.04342981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16439141799998 meters 0.018745890415029786 Centerline is valid? [True, True] Translation: X:94.81, Y:-0.56, Z:-2.04 [[ 9.99386608e-01 3.21100797e-02 1.39767824e-02 9.48076008e+01] [-3.21033669e-02 9.99484306e-01 -7.04436476e-04 -5.58961705e-01] [-1.39921941e-02 2.55302607e-04 9.99902072e-01 -2.04325367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22439141799998 meters 0.022317817662959812 Centerline is valid? [True, True] Translation: X:94.87, Y:-0.57, Z:-2.05 [[ 9.99667344e-01 2.21295916e-02 1.32469446e-02 9.48667744e+01] [-2.21226857e-02 9.99755041e-01 -6.67652303e-04 -5.72192799e-01] [-1.32584745e-02 3.74372214e-04 9.99912032e-01 -2.04738761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28439141799998 meters 0.02670996036755656 Centerline is valid? [True, True] Translation: X:94.93, Y:-0.58, Z:-2.05 [[ 9.99783035e-01 1.46777392e-02 1.47799831e-02 9.49269906e+01] [-1.46683331e-02 9.99892137e-01 -7.44619863e-04 -5.84653938e-01] [-1.47893182e-02 5.27660591e-04 9.99890493e-01 -2.04752353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34439141799999 meters 0.02946323127820019 Centerline is valid? [True, True] Translation: X:94.99, Y:-0.59, Z:-2.04 [[ 9.99832553e-01 6.85763778e-03 1.69657844e-02 9.49879437e+01] [-6.84410195e-03 9.99976213e-01 -8.55764716e-04 -5.86584444e-01] [-1.69712494e-02 7.39505863e-04 9.99855705e-01 -2.04268905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40439141799999 meters 0.030794570435825237 Centerline is valid? [True, True] Translation: X:95.05, Y:-0.59, Z:-2.05 [[ 9.99871899e-01 3.49955429e-03 1.56185144e-02 9.50492522e+01] [-3.48767721e-03 9.99993608e-01 -7.87621285e-04 -5.92277092e-01] [-1.56211709e-02 7.33048054e-04 9.99877713e-01 -2.04696194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46439141799998 meters 0.033680825610412024 Centerline is valid? [True, True] Translation: X:95.11, Y:-0.60, Z:-2.05 [[ 9.99887595e-01 3.25513492e-03 1.46356184e-02 9.51097448e+01] [-3.24468260e-03 9.99994464e-01 -7.37858453e-04 -5.96012209e-01] [-1.46379392e-02 6.90287578e-04 9.99892621e-01 -2.05095098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52439141799998 meters 0.03189223788595647 Centerline is valid? [True, True] Translation: X:95.17, Y:-0.59, Z:-2.05 [[ 9.99854930e-01 6.55567451e-03 1.57207473e-02 9.51719112e+01] [-6.54397571e-03 9.99978272e-01 -7.95489539e-04 -5.91252635e-01] [-1.57256207e-02 6.92497949e-04 9.99876105e-01 -2.04974243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58439141799998 meters 0.025884443380210412 Centerline is valid? [True, True] Translation: X:95.23, Y:-0.58, Z:-2.05 [[ 9.99811471e-01 1.12169678e-02 1.58493441e-02 9.52335429e+01] [-1.12056430e-02 9.99936892e-01 -8.03151582e-04 -5.82485702e-01] [-1.58573528e-02 6.25398072e-04 9.99874069e-01 -2.04873087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64439141799998 meters 0.02395344591055022 Centerline is valid? [True, True] Translation: X:95.30, Y:-0.58, Z:-2.05 [[ 9.99760433e-01 1.65162410e-02 1.43628342e-02 9.52955066e+01] [-1.65074880e-02 9.99863477e-01 -7.27771562e-04 -5.78274573e-01] [-1.43728934e-02 4.90502898e-04 9.99896584e-01 -2.05209091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70439141799999 meters 0.023059137642465307 Centerline is valid? [True, True] Translation: X:95.36, Y:-0.57, Z:-2.06 [[ 9.99678636e-01 2.15038027e-02 1.34243068e-02 9.53563290e+01] [-2.14965933e-02 9.99768690e-01 -6.81114976e-04 -5.73413421e-01] [-1.34358482e-02 3.92319226e-04 9.99909658e-01 -2.05644612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76439141799999 meters 0.022034820960985683 Centerline is valid? [True, True] Translation: X:95.42, Y:-0.57, Z:-2.06 [[ 9.99619612e-01 2.34088215e-02 1.45827964e-02 9.54179854e+01] [-2.34005069e-02 9.99725896e-01 -7.40557025e-04 -5.70426837e-01] [-1.45961348e-02 3.99030498e-04 9.99893391e-01 -2.05623811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82439141799998 meters 0.021334526390134008 Centerline is valid? [True, True] Translation: X:95.48, Y:-0.57, Z:-2.05 [[ 9.99589424e-01 2.42963811e-02 1.51878195e-02 9.54799787e+01] [-2.42874549e-02 9.99704718e-01 -7.71919647e-04 -5.66697102e-01] [-1.52020897e-02 4.02729235e-04 9.99884360e-01 -2.05398300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88439141799998 meters 0.022155075941741393 Centerline is valid? [True, True] Translation: X:95.54, Y:-0.57, Z:-2.06 [[ 9.99589295e-01 2.50595916e-02 1.39017039e-02 9.55417636e+01] [-2.50521804e-02 9.99685895e-01 -7.07032067e-04 -5.65888555e-01] [-1.39150552e-02 3.58473692e-04 9.99903117e-01 -2.05705049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94439141799998 meters 0.02154522304535194 Centerline is valid? [True, True] Translation: X:95.60, Y:-0.56, Z:-2.06 [[ 9.99605676e-01 2.31465973e-02 1.58974005e-02 9.56021860e+01] [-2.31366481e-02 9.99731984e-01 -8.09497546e-04 -5.63935953e-01] [-1.59118769e-02 4.41365781e-04 9.99873301e-01 -2.05848091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00439141799998 meters 0.022242629915915482 Centerline is valid? [True, True] Translation: X:95.66, Y:-0.57, Z:-2.06 [[ 9.99604263e-01 2.17960603e-02 1.77834091e-02 9.56634939e+01] [-2.17834163e-02 9.99762304e-01 -9.04423368e-04 -5.69834195e-01] [-1.77988950e-02 5.16682051e-04 9.99841454e-01 -2.05926872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06439141799999 meters 0.02166663689475567 Centerline is valid? [True, True] Translation: X:95.73, Y:-0.57, Z:-2.06 [[ 9.99599778e-01 2.32540024e-02 1.61101015e-02 9.57255019e+01] [-2.32437577e-02 9.99729489e-01 -8.22892796e-04 -5.67382705e-01] [-1.61248791e-02 4.48104160e-04 9.99869885e-01 -2.05971640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12439141799999 meters 0.02024415498386068 Centerline is valid? [True, True] Translation: X:95.79, Y:-0.56, Z:-2.06 [[ 9.99505312e-01 2.74184709e-02 1.54064724e-02 9.57866871e+01] [-2.74095090e-02 9.99623975e-01 -7.92586876e-04 -5.59257037e-01] [-1.54224107e-02 3.69910949e-04 9.99880999e-01 -2.05956898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18439141799998 meters 0.018403183324027978 Centerline is valid? [True, True] Translation: X:95.85, Y:-0.56, Z:-2.06 [[ 9.99388510e-01 3.10828272e-02 1.60144828e-02 9.58472719e+01] [-3.10735996e-02 9.99516759e-01 -8.24768061e-04 -5.60553505e-01] [-1.60323800e-02 3.26636098e-04 9.99871420e-01 -2.06262814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24439141799998 meters 0.01748373709142863 Centerline is valid? [True, True] Translation: X:95.91, Y:-0.56, Z:-2.07 [[ 9.99307657e-01 3.42332709e-02 1.45701955e-02 9.59066762e+01] [-3.42259633e-02 9.99413838e-01 -7.50678005e-04 -5.59061056e-01] [-1.45873532e-02 2.51479302e-04 9.99893567e-01 -2.06599806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30439141799998 meters 0.017046978693577304 Centerline is valid? [True, True] Translation: X:95.97, Y:-0.55, Z:-2.07 [[ 9.99130376e-01 4.01155122e-02 1.13682947e-02 9.59664434e+01] [-4.01114448e-02 9.99195041e-01 -5.85657248e-04 -5.51305515e-01] [-1.13826376e-02 1.29149221e-04 9.99935207e-01 -2.06891768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36439141799998 meters 0.01508111401379074 Centerline is valid? [True, True] Translation: X:96.03, Y:-0.55, Z:-2.07 [[ 9.98968579e-01 4.36025165e-02 1.26727335e-02 9.60257633e+01] [-4.35977511e-02 9.99048953e-01 -6.52189707e-04 -5.49373075e-01] [-1.26891183e-02 9.90143433e-05 9.99919485e-01 -2.06711746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42439141799998 meters 0.015085754503742499 Centerline is valid? [True, True] Translation: X:96.08, Y:-0.55, Z:-2.07 [[ 9.98971415e-01 4.32154333e-02 1.37308933e-02 9.60835266e+01] [-4.32098176e-02 9.99065771e-01 -7.05528716e-04 -5.53730301e-01] [-1.37485553e-02 1.11493624e-04 9.99905478e-01 -2.06769398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48439141799999 meters 0.015526829828799275 Centerline is valid? [True, True] Translation: X:96.14, Y:-0.56, Z:-2.07 [[ 9.99053185e-01 4.11456758e-02 1.41338637e-02 9.61420111e+01] [-4.11395419e-02 9.99153148e-01 -7.24583213e-04 -5.57982252e-01] [-1.41517079e-02 1.42436488e-04 9.99899849e-01 -2.06913739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54439141799999 meters 0.017409124670315204 Centerline is valid? [True, True] Translation: X:96.20, Y:-0.56, Z:-2.07 [[ 9.99218159e-01 3.72182273e-02 1.33369553e-02 9.61989286e+01] [-3.72124269e-02 9.99307144e-01 -6.82896870e-04 -5.64621075e-01] [-1.33531309e-02 1.86062479e-04 9.99910826e-01 -2.07287073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60439141799998 meters 0.020557556091493866 Centerline is valid? [True, True] Translation: X:96.26, Y:-0.58, Z:-2.08 [[ 9.99446288e-01 3.06661452e-02 1.29114223e-02 9.62575767e+01] [-3.06601813e-02 9.99529648e-01 -6.59642454e-04 -5.75627116e-01] [-1.29255781e-02 2.63410654e-04 9.99916427e-01 -2.07517009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66439141799998 meters 0.021465880392206767 Centerline is valid? [True, True] Translation: X:96.32, Y:-0.58, Z:-2.08 [[ 9.99583860e-01 2.55624054e-02 1.33667415e-02 9.63168898e+01] [-2.55555692e-02 9.99673170e-01 -6.82016436e-04 -5.83782786e-01] [-1.33798068e-02 3.40137935e-04 9.99910429e-01 -2.07579625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72439141799998 meters 0.025501595512041966 Centerline is valid? [True, True] Translation: X:96.38, Y:-0.59, Z:-2.08 [[ 9.99730796e-01 1.89791155e-02 1.33464900e-02 9.63775785e+01] [-1.89717272e-02 9.99819789e-01 -6.79982472e-04 -5.89925812e-01] [-1.33569903e-02 4.26593451e-04 9.99910700e-01 -2.07523183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78439141799998 meters 0.024913618048787348 Centerline is valid? [True, True] Translation: X:96.44, Y:-0.59, Z:-2.08 [[ 9.99797321e-01 1.45384488e-02 1.39265791e-02 9.64386238e+01] [-1.45299702e-02 9.99894182e-01 -7.09803028e-04 -5.89796941e-01] [-1.39354249e-02 5.07306387e-04 9.99902769e-01 -2.07535835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84439141799999 meters 0.028537580386827334 Centerline is valid? [True, True] Translation: X:96.50, Y:-0.60, Z:-2.08 [[ 9.99856736e-01 8.52604415e-03 1.46223554e-02 9.64982058e+01] [-8.51604823e-03 9.99963460e-01 -7.45735883e-04 -6.00518271e-01] [-1.46281792e-02 6.21104362e-04 9.99892810e-01 -2.07908108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90439141799999 meters 0.031821218447710506 Centerline is valid? [True, True] Translation: X:96.56, Y:-0.61, Z:-2.08 [[ 9.99890651e-01 3.96325008e-03 1.42470377e-02 9.65587638e+01] [-3.95330071e-03 9.99991922e-01 -7.26441378e-04 -6.05368503e-01] [-1.42498017e-02 6.70039118e-04 9.99898242e-01 -2.08032883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96439141799998 meters 0.033617058471231226 Centerline is valid? [True, True] Translation: X:96.62, Y:-0.61, Z:-2.08 [[ 9.99900045e-01 -1.00964235e-03 1.41024872e-02 9.66198053e+01] [ 1.01988804e-03 9.99999221e-01 -7.19343845e-04 -6.06242070e-01] [-1.41017500e-02 7.33654901e-04 9.99900296e-01 -2.07993336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02439141799998 meters 0.03699801889706328 Centerline is valid? [True, True] Translation: X:96.68, Y:-0.61, Z:-2.08 [[ 9.99896942e-01 -3.25076352e-03 1.39834553e-02 9.66803839e+01] [ 3.26104604e-03 9.99994429e-01 -7.12596605e-04 -6.11430993e-01] [-1.39810609e-02 7.58123858e-04 9.99901973e-01 -2.08179245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08439141799998 meters 0.03453751814332406 Centerline is valid? [True, True] Translation: X:96.74, Y:-0.61, Z:-2.08 [[ 9.99912085e-01 -2.70313904e-03 1.29813477e-02 9.67426676e+01] [ 2.71198161e-03 9.99996102e-01 -6.63620003e-04 -6.08090690e-01] [-1.29795032e-02 6.98766837e-04 9.99915519e-01 -2.08380927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14439141799998 meters 0.034147993286044113 Centerline is valid? [True, True] Translation: X:96.80, Y:-0.61, Z:-2.09 [[ 9.99902443e-01 1.26829359e-03 1.39103139e-02 9.68022855e+01] [-1.25850569e-03 9.99998954e-01 -7.12374374e-04 -6.05517096e-01] [-1.39112029e-02 6.94798667e-04 9.99902993e-01 -2.08614552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20439141799999 meters 0.029476674354750227 Centerline is valid? [True, True] Translation: X:96.86, Y:-0.60, Z:-2.08 [[ 9.99857135e-01 5.94473582e-03 1.58230459e-02 9.68640899e+01] [-5.93262555e-03 9.99982072e-01 -8.12185569e-04 -5.97358450e-01] [-1.58275904e-02 7.18197330e-04 9.99874478e-01 -2.08421276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26439141799999 meters 0.024759768584497407 Centerline is valid? [True, True] Translation: X:96.93, Y:-0.58, Z:-2.08 [[ 9.99754310e-01 1.45058135e-02 1.67600887e-02 9.69250988e+01] [-1.44934191e-02 9.99894594e-01 -8.60754174e-04 -5.83731763e-01] [-1.67708081e-02 6.17631705e-04 9.99859169e-01 -2.08183309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32439141799998 meters 0.0223960284427135 Centerline is valid? [True, True] Translation: X:96.99, Y:-0.57, Z:-2.09 [[ 9.99622324e-01 2.30150715e-02 1.50171792e-02 9.69862416e+01] [-2.30060821e-02 9.99735028e-01 -7.71111242e-04 -5.73832175e-01] [-1.50309473e-02 4.25333553e-04 9.99886938e-01 -2.08617341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38439141799998 meters 0.021164913111685186 Centerline is valid? [True, True] Translation: X:97.05, Y:-0.57, Z:-2.09 [[ 9.99519058e-01 2.68921075e-02 1.54423796e-02 9.70466964e+01] [-2.68830571e-02 9.99638270e-01 -7.93392662e-04 -5.72296509e-01] [-1.54581296e-02 3.77872713e-04 9.99880445e-01 -2.08914456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44439141799998 meters 0.01873739227983776 Centerline is valid? [True, True] Translation: X:97.11, Y:-0.57, Z:-2.09 [[ 9.99389846e-01 3.09314771e-02 1.62228123e-02 9.71060631e+01] [-3.09220169e-02 9.99521452e-01 -8.33714554e-04 -5.70266525e-01] [-1.62408369e-02 3.31563784e-04 9.99868054e-01 -2.09051659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50439141799998 meters 0.01682785518433828 Centerline is valid? [True, True] Translation: X:97.17, Y:-0.56, Z:-2.09 [[ 9.99171759e-01 3.81382904e-02 1.41868810e-02 9.71658747e+01] [-3.81317859e-02 9.99272453e-01 -7.28804111e-04 -5.58795445e-01] [-1.42043548e-02 1.87229376e-04 9.99899096e-01 -2.09013837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56439141799999 meters 0.014883880863081757 Centerline is valid? [True, True] Translation: X:97.22, Y:-0.56, Z:-2.09 [[ 9.99034200e-01 4.18602556e-02 1.33561189e-02 9.72245845e+01] [-4.18548301e-02 9.99123467e-01 -6.85601846e-04 -5.56054482e-01] [-1.33731113e-02 1.25921605e-04 9.99910568e-01 -2.09160963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62439141799999 meters 0.014497748149058121 Centerline is valid? [True, True] Translation: X:97.28, Y:-0.56, Z:-2.09 [[ 9.98975676e-01 4.24598368e-02 1.56448672e-02 9.72833212e+01] [-4.24524907e-02 9.99098165e-01 -8.01504714e-04 -5.60976868e-01] [-1.56647899e-02 1.36520132e-04 9.99877290e-01 -2.09468716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68439141799998 meters 0.015792251998685013 Centerline is valid? [True, True] Translation: X:97.34, Y:-0.56, Z:-2.09 [[ 9.99128195e-01 3.77909123e-02 1.77396737e-02 9.73410011e+01] [-3.77807592e-02 9.99285640e-01 -9.07241974e-04 -5.64111600e-01] [-1.77612867e-02 2.36232695e-04 9.99842228e-01 -2.09269686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74439141799998 meters 0.017993056719837492 Centerline is valid? [True, True] Translation: X:97.40, Y:-0.57, Z:-2.10 [[ 9.99379301e-01 3.10949232e-02 1.65565272e-02 9.73988708e+01] [-3.10851974e-02 9.99516382e-01 -8.44520596e-04 -5.73627361e-01] [-1.65747805e-02 3.29333486e-04 9.99862575e-01 -2.09552643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80439141799998 meters 0.01973547943280768 Centerline is valid? [True, True] Translation: X:97.46, Y:-0.58, Z:-2.10 [[ 9.99561637e-01 2.52065751e-02 1.55294272e-02 9.74588509e+01] [-2.51973195e-02 9.99682184e-01 -7.91408384e-04 -5.83810444e-01] [-1.55444404e-02 3.99761519e-04 9.99879098e-01 -2.09943685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86439141799998 meters 0.024404685834464646 Centerline is valid? [True, True] Translation: X:97.52, Y:-0.59, Z:-2.10 [[ 9.99699405e-01 1.83151346e-02 1.62989703e-02 9.75183194e+01] [-1.83040218e-02 9.99832122e-01 -8.30742409e-04 -5.91976666e-01] [-1.63114492e-02 5.32155985e-04 9.99866818e-01 -2.10000603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92439141799998 meters 0.02460339058133355 Centerline is valid? [True, True] Translation: X:97.58, Y:-0.60, Z:-2.10 [[ 9.99717348e-01 1.55214063e-02 1.80085840e-02 9.75797853e+01] [-1.55074147e-02 9.99879333e-01 -9.16334204e-04 -5.98909453e-01] [-1.80206337e-02 6.36808621e-04 9.99837412e-01 -2.09939159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98439141799999 meters 0.02408367395170302 Centerline is valid? [True, True] Translation: X:97.64, Y:-0.61, Z:-2.10 [[ 9.99725033e-01 1.48152366e-02 1.81760229e-02 9.76412064e+01] [-1.48007801e-02 9.99890030e-01 -9.29635151e-04 -6.06243943e-01] [-1.81877968e-02 6.60360215e-04 9.99834370e-01 -2.10319760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04439141799999 meters 0.025397134771415152 Centerline is valid? [True, True] Translation: X:97.70, Y:-0.61, Z:-2.10 [[ 9.99760841e-01 1.33657837e-02 1.73094221e-02 9.77037151e+01] [-1.33523819e-02 9.99910457e-01 -8.89592974e-04 -6.07886296e-01] [-1.73197623e-02 6.58258206e-04 9.99849785e-01 -2.10378086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10439141799998 meters 0.028872229997094295 Centerline is valid? [True, True] Translation: X:97.76, Y:-0.62, Z:-2.10 [[ 9.99741429e-01 1.19580830e-02 1.93411199e-02 9.77648419e+01] [-1.19409647e-02 9.99928204e-01 -1.00032237e-03 -6.18972081e-01] [-1.93516932e-02 7.69112089e-04 9.99812443e-01 -2.10470798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16439141799998 meters 0.02644863392341615 Centerline is valid? [True, True] Translation: X:97.83, Y:-0.62, Z:-2.11 [[ 9.99756225e-01 1.19961798e-02 1.85359708e-02 9.78280445e+01] [-1.19803831e-02 9.99927769e-01 -9.63031062e-04 -6.21250084e-01] [-1.85461846e-02 7.40728268e-04 9.99827730e-01 -2.10717411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22439141799998 meters 0.02979737279326708 Centerline is valid? [True, True] Translation: X:97.89, Y:-0.62, Z:-2.11 [[ 9.99778456e-01 1.41513022e-02 1.55813721e-02 9.78897506e+01] [-1.41403360e-02 9.99899689e-01 -8.13754530e-04 -6.21984327e-01] [-1.55913248e-02 5.93248411e-04 9.99878272e-01 -2.10993158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28439141799998 meters 0.02521967241493358 Centerline is valid? [True, True] Translation: X:97.95, Y:-0.62, Z:-2.11 [[ 9.99744348e-01 1.68671473e-02 1.50577928e-02 9.79524839e+01] [-1.68571529e-02 9.99857596e-01 -7.90423487e-04 -6.18098370e-01] [-1.50689807e-02 5.36389898e-04 9.99886313e-01 -2.11179327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34439141799999 meters 0.02395238932925772 Centerline is valid? [True, True] Translation: X:98.01, Y:-0.62, Z:-2.11 [[ 9.99700238e-01 1.87828944e-02 1.57046947e-02 9.80148969e+01] [-1.87721865e-02 9.99823443e-01 -8.28978879e-04 -6.21156443e-01] [-1.57174925e-02 5.33918925e-04 9.99876330e-01 -2.11398800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40439141799999 meters 0.023463095961869348 Centerline is valid? [True, True] Translation: X:98.08, Y:-0.62, Z:-2.12 [[ 9.99591908e-01 2.28190885e-02 1.71844734e-02 9.80757726e+01] [-2.28067500e-02 9.99739475e-01 -9.13661546e-04 -6.24438509e-01] [-1.72008453e-02 5.21366701e-04 9.99851919e-01 -2.11534676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46439141799998 meters 0.01963052290035728 Centerline is valid? [True, True] Translation: X:98.14, Y:-0.61, Z:-2.11 [[ 9.99411447e-01 2.75466438e-02 2.04436435e-02 9.81369232e+01] [-2.75301472e-02 9.99620382e-01 -1.08798288e-03 -6.12988653e-01] [-2.04658530e-02 5.24526027e-04 9.99790415e-01 -2.10871548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52439141799998 meters 0.020165833700944262 Centerline is valid? [True, True] Translation: X:98.20, Y:-0.62, Z:-2.11 [[ 9.99277092e-01 3.12072128e-02 2.17118338e-02 9.81973279e+01] [-3.11894698e-02 9.99512822e-01 -1.15543863e-03 -6.17217998e-01] [-2.17373143e-02 4.77422764e-04 9.99763603e-01 -2.10944286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58439141799998 meters 0.018793810834146163 Centerline is valid? [True, True] Translation: X:98.26, Y:-0.62, Z:-2.12 [[ 9.99209471e-01 3.47393105e-02 1.93290862e-02 9.82578491e+01] [-3.47258652e-02 9.99396344e-01 -1.03090848e-03 -6.20613246e-01] [-1.93532311e-02 3.58874274e-04 9.99812644e-01 -2.11738969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64439141799998 meters 0.017546426840182552 Centerline is valid? [True, True] Translation: X:98.32, Y:-0.62, Z:-2.12 [[ 9.99235609e-01 3.44155675e-02 1.85409350e-02 9.83164556e+01] [-3.44031356e-02 9.99407547e-01 -9.89146304e-04 -6.20490043e-01] [-1.85639924e-02 3.50523908e-04 9.99827613e-01 -2.11792897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70439141799999 meters 0.018497854913797282 Centerline is valid? [True, True] Translation: X:98.37, Y:-0.62, Z:-2.12 [[ 9.99282421e-01 3.32400500e-02 1.81587880e-02 9.83745438e+01] [-3.32279568e-02 9.99447331e-01 -9.67361345e-04 -6.23237487e-01] [-1.81809073e-02 3.63287766e-04 9.99834648e-01 -2.11924200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76439141799999 meters 0.0175938234560756 Centerline is valid? [True, True] Translation: X:98.43, Y:-0.63, Z:-2.12 [[ 9.99250430e-01 3.35896334e-02 1.92435415e-02 9.84331487e+01] [-3.35761473e-02 9.99435638e-01 -1.02356810e-03 -6.26306441e-01] [-1.92670624e-02 3.76676885e-04 9.99814302e-01 -2.11862203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82439141799998 meters 0.01556471466961812 Centerline is valid? [True, True] Translation: X:98.49, Y:-0.62, Z:-2.12 [[ 9.99069241e-01 3.88228681e-02 1.87998889e-02 9.84921975e+01] [-3.88109503e-02 9.99246072e-01 -9.98508052e-04 -6.21573070e-01] [-1.88244801e-02 2.67937127e-04 9.99822768e-01 -2.11942052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88439141799998 meters 0.014526348503652822 Centerline is valid? [True, True] Translation: X:98.55, Y:-0.62, Z:-2.12 [[ 9.98764255e-01 4.57211413e-02 1.94817693e-02 9.85498268e+01] [-4.57096868e-02 9.98954232e-01 -1.03308594e-03 -6.21339402e-01] [-1.95086297e-02 1.41303742e-04 9.99809679e-01 -2.12223364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94439141799998 meters 0.014342608214158099 Centerline is valid? [True, True] Translation: X:98.61, Y:-0.63, Z:-2.12 [[ 9.98623308e-01 4.85299409e-02 1.99081350e-02 9.86080811e+01] [-4.85185797e-02 9.98821725e-01 -1.05357604e-03 -6.25072962e-01] [-1.99358077e-02 8.62111559e-05 9.99801258e-01 -2.12389359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00439141799998 meters 0.014096855539453713 Centerline is valid? [True, True] Translation: X:98.67, Y:-0.63, Z:-2.12 [[ 9.98552017e-01 4.98956533e-02 2.01070392e-02 9.86669325e+01] [-4.98843740e-02 9.98754435e-01 -1.06245027e-03 -6.27773496e-01] [-2.01350063e-02 5.78847970e-05 9.99797269e-01 -2.12277778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06439141799999 meters 0.014348573177722335 Centerline is valid? [True, True] Translation: X:98.73, Y:-0.63, Z:-2.12 [[ 9.98655343e-01 4.79955518e-02 1.95941984e-02 9.87250487e+01] [-4.79845056e-02 9.98847545e-01 -1.03378401e-03 -6.33011083e-01] [-1.96212340e-02 9.21760053e-05 9.99807481e-01 -2.12451943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12439141799999 meters 0.015143625771758802 Centerline is valid? [True, True] Translation: X:98.78, Y:-0.65, Z:-2.13 [[ 9.98945009e-01 4.17794117e-02 1.90617186e-02 9.87822747e+01] [-4.17678528e-02 9.99126838e-01 -1.00428525e-03 -6.46037772e-01] [-1.90870331e-02 2.07058681e-04 9.99817805e-01 -2.12885334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18439141799998 meters 0.0171678696757477 Centerline is valid? [True, True] Translation: X:98.84, Y:-0.66, Z:-2.13 [[ 9.99175118e-01 3.55183526e-02 1.96858101e-02 9.88409884e+01] [-3.55048586e-02 9.99368968e-01 -1.03466270e-03 -6.59634608e-01] [-1.97101373e-02 3.34867319e-04 9.99805680e-01 -2.13093427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24439141799998 meters 0.018047483509226227 Centerline is valid? [True, True] Translation: X:98.90, Y:-0.67, Z:-2.13 [[ 9.99291211e-01 3.28567245e-02 1.83714702e-02 9.88999704e+01] [-3.28445337e-02 9.99460007e-01 -9.64987252e-04 -6.65077705e-01] [-1.83932560e-02 3.60900908e-04 9.99830765e-01 -2.13211752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30439141799998 meters 0.018909597724177562 Centerline is valid? [True, True] Translation: X:98.96, Y:-0.67, Z:-2.13 [[ 9.99355012e-01 3.13512822e-02 1.75116546e-02 9.89595700e+01] [-3.13399935e-02 9.99508359e-01 -9.18763570e-04 -6.70281109e-01] [-1.75318496e-02 3.69355837e-04 9.99846237e-01 -2.13364212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36439141799998 meters 0.019545058877469424 Centerline is valid? [True, True] Translation: X:99.02, Y:-0.68, Z:-2.14 [[ 9.99352621e-01 3.08582147e-02 1.84961793e-02 9.90182858e+01] [-3.08455494e-02 9.99523692e-01 -9.69717082e-04 -6.78528894e-01] [-1.85172932e-02 3.98564496e-04 9.99828461e-01 -2.13559778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42439141799998 meters 0.020274563333898765 Centerline is valid? [True, True] Translation: X:99.08, Y:-0.69, Z:-2.14 [[ 9.99350315e-01 3.00279257e-02 1.99316745e-02 9.90776316e+01] [-3.00130784e-02 9.99548961e-01 -1.04369863e-03 -6.85331855e-01] [-1.99540246e-02 4.44809645e-04 9.99800800e-01 -2.13646794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48439141799999 meters 0.02076271618723475 Centerline is valid? [True, True] Translation: X:99.14, Y:-0.69, Z:-2.14 [[ 9.99445215e-01 2.66779249e-02 1.99386538e-02 9.91381625e+01] [-2.66624174e-02 9.99643950e-01 -1.04323714e-03 -6.91254304e-01] [-1.99593861e-02 5.11045664e-04 9.99800661e-01 -2.13806735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54439141799998 meters 0.022703698766257715 Centerline is valid? [True, True] Translation: X:99.20, Y:-0.70, Z:-2.14 [[ 9.99618207e-01 2.04404347e-02 1.85911230e-02 9.91990514e+01] [-2.04258761e-02 9.99790897e-01 -9.72661935e-04 -6.97840965e-01] [-1.86071172e-02 5.92550604e-04 9.99826697e-01 -2.14027390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60439141799998 meters 0.02492753898683038 Centerline is valid? [True, True] Translation: X:99.26, Y:-0.71, Z:-2.14 [[ 9.99717324e-01 1.53996181e-02 1.81142085e-02 9.92594547e+01] [-1.53849641e-02 9.99881195e-01 -9.48064508e-04 -7.05056712e-01] [-1.81266563e-02 6.69110066e-04 9.99835475e-01 -2.14214153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66439141799998 meters 0.030661131067334577 Centerline is valid? [True, True] Translation: X:99.32, Y:-0.72, Z:-2.14 [[ 9.99825354e-01 7.40273666e-03 1.71598804e-02 9.93180413e+01] [-7.38840849e-03 9.99972302e-01 -8.98228190e-04 -7.16695084e-01] [-1.71660544e-02 7.71287112e-04 9.99852355e-01 -2.14497861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72439141799998 meters 0.033960882123265895 Centerline is valid? [True, True] Translation: X:99.38, Y:-0.73, Z:-2.15 [[ 9.99868508e-01 7.28128391e-04 1.61998863e-02 9.93781571e+01] [-7.14463484e-04 9.99999384e-01 -8.49290184e-04 -7.25127832e-01] [-1.62004947e-02 8.37604282e-04 9.99868413e-01 -2.14698222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78439141799998 meters 0.03543166061430331 Centerline is valid? [True, True] Translation: X:99.44, Y:-0.73, Z:-2.15 [[ 9.99863302e-01 -9.43818827e-04 1.65071810e-02 9.94404466e+01] [ 9.58228327e-04 9.99999167e-01 -8.65035535e-04 -7.29236963e-01] [-1.65063508e-02 8.80734934e-04 9.99863373e-01 -2.14714115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84439141799999 meters 0.033262702379486773 Centerline is valid? [True, True] Translation: X:99.50, Y:-0.73, Z:-2.15 [[ 9.99853437e-01 8.15025017e-04 1.71008558e-02 9.95032486e+01] [-7.99794329e-04 9.99999277e-01 -8.97459132e-04 -7.27681382e-01] [-1.71015749e-02 8.83650431e-04 9.99853367e-01 -2.14687290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90439141799999 meters 0.029832320260184765 Centerline is valid? [True, True] Translation: X:99.56, Y:-0.72, Z:-2.15 [[ 9.99812148e-01 7.72621261e-03 1.77756491e-02 9.95638564e+01] [-7.71080467e-03 9.99969834e-01 -9.35175966e-04 -7.23870274e-01] [-1.77823383e-02 7.97935734e-04 9.99841563e-01 -2.14837311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96439141799998 meters 0.023930027807510943 Centerline is valid? [True, True] Translation: X:99.63, Y:-0.72, Z:-2.15 [[ 9.99665067e-01 1.75353579e-02 1.90332751e-02 9.96253962e+01] [-1.75194668e-02 9.99846021e-01 -1.00134823e-03 -7.15285469e-01] [-1.90479034e-02 6.67560011e-04 9.99818349e-01 -2.14911077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02439141799998 meters 0.018929106617193273 Centerline is valid? [True, True] Translation: X:99.69, Y:-0.70, Z:-2.15 [[ 9.99406444e-01 2.87275046e-02 1.90128822e-02 9.96870470e+01] [-2.87136685e-02 9.99587177e-01 -1.00036868e-03 -7.03120734e-01] [-1.90337713e-02 4.53845304e-04 9.99818738e-01 -2.14978444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08439141799998 meters 0.015810100080447916 Centerline is valid? [True, True] Translation: X:99.75, Y:-0.70, Z:-2.15 [[ 9.99080290e-01 3.89360206e-02 1.79599929e-02 9.97468018e+01] [-3.89253207e-02 9.99241676e-01 -9.45086227e-04 -6.95871522e-01] [-1.79831713e-02 2.45118536e-04 9.99838260e-01 -2.15398804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14439141799998 meters 0.014520091358218355 Centerline is valid? [True, True] Translation: X:99.81, Y:-0.69, Z:-2.16 [[ 9.98852139e-01 4.46016734e-02 1.74669973e-02 9.98055623e+01] [-4.45924200e-02 9.99004841e-01 -9.19079771e-04 -6.91353946e-01] [-1.74906073e-02 1.39129115e-04 9.99847018e-01 -2.15578672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20439141799999 meters 0.014006729122653397 Centerline is valid? [True, True] Translation: X:99.86, Y:-0.69, Z:-2.16 [[ 9.98584628e-01 5.02181354e-02 1.75179995e-02 9.98645769e+01] [-5.02097164e-02 9.98738273e-01 -9.20355478e-04 -6.87104593e-01] [-1.75421151e-02 3.94790447e-05 9.99846124e-01 -2.15699199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26439141799999 meters 0.014048181492853584 Centerline is valid? [True, True] Translation: X:99.92, Y:-0.69, Z:-2.16 [[ 9.98437123e-01 5.31144447e-02 1.73829740e-02 9.99228829e+01] [-5.31066141e-02 9.98588432e-01 -9.12102982e-04 -6.87436272e-01] [-1.74068826e-02 -1.24734159e-05 9.99848489e-01 -2.15858564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32439141799998 meters 0.015001067602216978 Centerline is valid? [True, True] Translation: X:99.98, Y:-0.68, Z:-2.16 [[ 9.97982882e-01 6.06412945e-02 1.87829692e-02 9.99803978e+01] [-6.06335293e-02 9.98159611e-01 -9.83155052e-04 -6.84165446e-01] [-1.88080210e-02 -1.57705801e-04 9.99823101e-01 -2.15966654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38439141799998 meters 0.015576132490169089 Centerline is valid? [True, True] Translation: X:100.04, Y:-0.68, Z:-2.16 [[ 9.97708369e-01 6.44371508e-02 2.06364899e-02 1.00038786e+02] [-6.44286580e-02 9.97921735e-01 -1.07683219e-03 -6.84338564e-01] [-2.06629898e-02 -2.55216862e-04 9.99786465e-01 -2.15868510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44439141799998 meters 0.015488196218095664 Centerline is valid? [True, True] Translation: X:100.10, Y:-0.69, Z:-2.16 [[ 9.97727790e-01 6.38235372e-02 2.15827215e-02 1.00097309e+02] [-6.38141767e-02 9.97961167e-01 -1.12284967e-03 -6.89448712e-01] [-2.16103821e-02 -2.56985283e-04 9.99766435e-01 -2.15993292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50439141799998 meters 0.014488786835204534 Centerline is valid? [True, True] Translation: X:100.15, Y:-0.70, Z:-2.16 [[ 9.98111920e-01 5.80042756e-02 2.02014870e-02 1.00154166e+02] [-5.79949125e-02 9.98316327e-01 -1.04952382e-03 -7.01447078e-01] [-2.02283511e-02 -1.24041238e-04 9.99795378e-01 -2.16427926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56439141799999 meters 0.014249837446308117 Centerline is valid? [True, True] Translation: X:100.21, Y:-0.71, Z:-2.17 [[ 9.98639594e-01 4.85059911e-02 1.91345473e-02 1.00212469e+02] [-4.84958814e-02 9.98822890e-01 -9.92284610e-04 -7.13928772e-01] [-1.91601555e-02 6.29879648e-05 9.99816425e-01 -2.16552210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62439141799999 meters 0.015077835575549536 Centerline is valid? [True, True] Translation: X:100.27, Y:-0.72, Z:-2.17 [[ 9.98944590e-01 4.19913251e-02 1.86127685e-02 1.00270621e+02] [-4.19806552e-02 9.99117959e-01 -9.63778591e-04 -7.23989213e-01] [-1.86368216e-02 1.81385194e-04 9.99826303e-01 -2.16719483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68439141799998 meters 0.01722291241280015 Centerline is valid? [True, True] Translation: X:100.33, Y:-0.74, Z:-2.17 [[ 9.99225392e-01 3.42898548e-02 1.93085901e-02 1.00329755e+02] [-3.42769674e-02 9.99411874e-01 -9.98097536e-04 -7.39220478e-01] [-1.93314588e-02 3.35484491e-04 9.99813074e-01 -2.16961331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74439141799998 meters 0.017824524381605013 Centerline is valid? [True, True] Translation: X:100.39, Y:-0.75, Z:-2.17 [[ 9.99309827e-01 3.07345202e-02 2.08628652e-02 1.00389516e+02] [-3.07187196e-02 9.99527488e-01 -1.07748587e-03 -7.46231295e-01] [-2.08861233e-02 4.35861712e-04 9.99781766e-01 -2.16989684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80439141799998 meters 0.0191886666085252 Centerline is valid? [True, True] Translation: X:100.45, Y:-0.75, Z:-2.17 [[ 9.99371866e-01 2.76778829e-02 2.21316049e-02 1.00450909e+02] [-2.76593495e-02 9.99616753e-01 -1.14314512e-03 -7.54437272e-01] [-2.21547629e-02 5.30281275e-04 9.99754412e-01 -2.17073783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86439141799998 meters 0.020195614102713637 Centerline is valid? [True, True] Translation: X:100.51, Y:-0.76, Z:-2.17 [[ 9.99435539e-01 2.56265981e-02 2.17228006e-02 1.00512832e+02] [-2.56082416e-02 9.99671425e-01 -1.12283233e-03 -7.63274932e-01] [-2.17444374e-02 5.65915809e-04 9.99763402e-01 -2.17283272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92439141799998 meters 0.023509334239028054 Centerline is valid? [True, True] Translation: X:100.57, Y:-0.77, Z:-2.17 [[ 9.99582834e-01 1.93011304e-02 2.14854287e-02 1.00572138e+02] [-1.92815801e-02 9.99813469e-01 -1.11673959e-03 -7.74854988e-01] [-2.15029753e-02 7.02000708e-04 9.99768538e-01 -2.17463669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98439141799999 meters 0.027089764166196278 Centerline is valid? [True, True] Translation: X:100.63, Y:-0.79, Z:-2.18 [[ 9.99757523e-01 1.06183555e-02 1.92910921e-02 1.00632381e+02] [-1.06009475e-02 9.99943304e-01 -1.00442611e-03 -7.85277162e-01] [-1.93006637e-02 7.99678703e-04 9.99813405e-01 -2.17872593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04439141799998 meters 0.031621148511229526 Centerline is valid? [True, True] Translation: X:100.69, Y:-0.80, Z:-2.18 [[ 9.99852333e-01 3.06310947e-03 1.69094576e-02 1.00692570e+02] [-3.04865560e-03 9.99994965e-01 -8.80491188e-04 -7.99310826e-01] [-1.69120695e-02 8.28810056e-04 9.99856637e-01 -2.18442717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10439141799998 meters 0.034025612486736655 Centerline is valid? [True, True] Translation: X:100.75, Y:-0.80, Z:-2.19 [[ 9.99868811e-01 4.93548858e-04 1.61900072e-02 1.00753509e+02] [-4.79965560e-04 9.99999530e-01 -8.42867576e-04 -8.04490772e-01] [-1.61904156e-02 8.34986356e-04 9.99868578e-01 -2.18538738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16439141799998 meters 0.03217046500913686 Centerline is valid? [True, True] Translation: X:100.82, Y:-0.80, Z:-2.18 [[ 9.99842122e-01 2.20480619e-03 1.76315249e-02 1.00816492e+02] [-2.18895236e-03 9.99997182e-01 -9.18423388e-04 -8.02160884e-01] [-1.76335002e-02 8.79683820e-04 9.99844131e-01 -2.18308530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22439141799998 meters 0.032874752403654346 Centerline is valid? [True, True] Translation: X:100.88, Y:-0.81, Z:-2.18 [[ 9.99799938e-01 6.35131422e-03 1.89669537e-02 1.00875963e+02] [-6.33366495e-03 9.99979452e-01 -9.90453370e-04 -8.05956567e-01] [-1.89728546e-02 8.70124888e-04 9.99819621e-01 -2.18345045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28439141799998 meters 0.027855329955247907 Centerline is valid? [True, True] Translation: X:100.94, Y:-0.80, Z:-2.19 [[ 9.99752736e-01 1.14681653e-02 1.90511909e-02 1.00936709e+02] [-1.14512944e-02 9.99933937e-01 -9.94412099e-04 -8.00671682e-01] [-1.90613364e-02 7.76005421e-04 9.99818015e-01 -2.18515617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34439141799999 meters 0.025436723249864183 Centerline is valid? [True, True] Translation: X:101.00, Y:-0.80, Z:-2.19 [[ 9.99644062e-01 1.84510647e-02 1.92693544e-02 1.00996799e+02] [-1.84351004e-02 9.99829553e-01 -1.00579965e-03 -7.97386388e-01] [-1.92846281e-02 6.50209159e-04 9.99813823e-01 -2.18579237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40439141799999 meters 0.023608956850818173 Centerline is valid? [True, True] Translation: X:101.06, Y:-0.80, Z:-2.19 [[ 9.99552397e-01 2.30402331e-02 1.90828257e-02 1.01058443e+02] [-2.30254139e-02 9.99734384e-01 -9.95949872e-04 -7.96205072e-01] [-1.91007039e-02 5.56114121e-04 9.99817410e-01 -2.18728594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46439141799998 meters 0.020892753772184948 Centerline is valid? [True, True] Translation: X:101.12, Y:-0.79, Z:-2.19 [[ 9.99394384e-01 2.92340845e-02 1.88741362e-02 1.01119427e+02] [-2.92206778e-02 9.99572499e-01 -9.85775863e-04 -7.93727565e-01] [-1.88948858e-02 4.33663809e-04 9.99821382e-01 -2.18920715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52439141799998 meters 0.01653520507747618 Centerline is valid? [True, True] Translation: X:101.18, Y:-0.78, Z:-2.19 [[ 9.99164275e-01 3.61765867e-02 1.90264765e-02 1.01180245e+02] [-3.61642033e-02 9.99345366e-01 -9.94630515e-04 -7.82892830e-01] [-1.90500035e-02 3.05721911e-04 9.99818485e-01 -2.18833875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58439141799998 meters 0.015591252597273309 Centerline is valid? [True, True] Translation: X:101.24, Y:-0.78, Z:-2.19 [[ 9.98986573e-01 4.10326732e-02 1.84972325e-02 1.01239035e+02] [-4.10218076e-02 9.99157784e-01 -9.66620215e-04 -7.81824252e-01] [-1.85213169e-02 2.06850701e-04 9.99828444e-01 -2.19073392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64439141799998 meters 0.014452313563878562 Centerline is valid? [True, True] Translation: X:101.30, Y:-0.78, Z:-2.20 [[ 9.98673917e-01 4.84222379e-02 1.74841317e-02 1.01297607e+02] [-4.84136660e-02 9.98826953e-01 -9.13456078e-04 -7.80726071e-01] [-1.75078536e-02 6.57738461e-05 9.99846724e-01 -2.19516431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70439141799999 meters 0.01488821442660696 Centerline is valid? [True, True] Translation: X:101.36, Y:-0.78, Z:-2.20 [[ 9.98317851e-01 5.53345331e-02 1.73077607e-02 1.01356203e+02] [-5.53271927e-02 9.98467869e-01 -9.03019682e-04 -7.76361136e-01] [-1.73312111e-02 -5.60891437e-05 9.99849802e-01 -2.19541998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76439141799999 meters 0.015595606123395733 Centerline is valid? [True, True] Translation: X:101.41, Y:-0.78, Z:-2.19 [[ 9.98002052e-01 6.02077538e-02 1.91554356e-02 1.01414735e+02] [-6.01997119e-02 9.98185855e-01 -9.96695918e-04 -7.77359863e-01] [-1.91806936e-02 -1.58447131e-04 9.99816021e-01 -2.19484154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82439141799998 meters 0.015582458356132804 Centerline is valid? [True, True] Translation: X:101.47, Y:-0.79, Z:-2.20 [[ 9.98039204e-01 5.98572138e-02 1.82992024e-02 1.01471974e+02] [-5.98498390e-02 9.98206939e-01 -9.50886288e-04 -7.86777031e-01] [-1.83233082e-02 -1.46182526e-04 9.99832103e-01 -2.19851701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88439141799998 meters 0.015284843146065935 Centerline is valid? [True, True] Translation: X:101.53, Y:-0.79, Z:-2.20 [[ 9.98243242e-01 5.65720577e-02 1.76077470e-02 1.01530765e+02] [-5.65647575e-02 9.98398515e-01 -9.12756150e-04 -7.94839561e-01] [-1.76311849e-02 -8.48252791e-05 9.99844555e-01 -2.20022217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94439141799998 meters 0.015172628948915462 Centerline is valid? [True, True] Translation: X:101.59, Y:-0.81, Z:-2.20 [[ 9.98723630e-01 4.72450596e-02 1.78610132e-02 1.01587336e+02] [-4.72360806e-02 9.98883326e-01 -9.24492186e-04 -8.10559645e-01] [-1.78847460e-02 7.96279318e-05 9.99840052e-01 -2.20133368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00439141799998 meters 0.015873918668240772 Centerline is valid? [True, True] Translation: X:101.65, Y:-0.82, Z:-2.20 [[ 9.99099079e-01 3.89449810e-02 1.68617643e-02 1.01645045e+02] [-3.89358222e-02 9.99241334e-01 -8.71237288e-04 -8.23530349e-01] [-1.68829022e-02 2.13925714e-04 9.99857451e-01 -2.20229413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06439141799999 meters 0.018525489014302045 Centerline is valid? [True, True] Translation: X:101.70, Y:-0.84, Z:-2.20 [[ 9.99410610e-01 3.02893645e-02 1.61550761e-02 1.01703197e+02] [-3.02798564e-02 9.99541113e-01 -8.32887469e-04 -8.36025047e-01] [-1.61728904e-02 3.43223190e-04 9.99869151e-01 -2.20374440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12439141799999 meters 0.02496782276336023 Centerline is valid? [True, True] Translation: X:101.76, Y:-0.86, Z:-2.21 [[ 9.99677133e-01 1.96518905e-02 1.61069266e-02 1.01761519e+02] [-1.96410832e-02 9.99806752e-01 -8.28898819e-04 -8.55979287e-01] [-1.61201034e-02 5.12273709e-04 9.99869931e-01 -2.20593560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18439141799998 meters 0.026278356054319583 Centerline is valid? [True, True] Translation: X:101.82, Y:-0.87, Z:-2.21 [[ 9.99761806e-01 1.43547912e-02 1.64398993e-02 1.01822107e+02] [-1.43428118e-02 9.99896778e-01 -8.46359583e-04 -8.65117577e-01] [-1.64503517e-02 6.10363604e-04 9.99864498e-01 -2.20721137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24439141799998 meters 0.027293688554178124 Centerline is valid? [True, True] Translation: X:101.88, Y:-0.87, Z:-2.21 [[ 9.99810915e-01 9.76395705e-03 1.68166623e-02 1.01882469e+02] [-9.75075666e-03 9.99952085e-01 -8.66775334e-04 -8.71941169e-01] [-1.68243197e-02 7.02636257e-04 9.99858214e-01 -2.20806917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30439141799998 meters 0.033088683395023445 Centerline is valid? [True, True] Translation: X:101.94, Y:-0.88, Z:-2.21 [[ 9.99821445e-01 5.31320564e-03 1.81341388e-02 1.01941909e+02] [-5.29712253e-03 9.99985533e-01 -9.34815433e-04 -8.83903485e-01] [-1.81388433e-02 8.38589762e-04 9.99835126e-01 -2.20700043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36439141799998 meters 0.03185612790716999 Centerline is valid? [True, True] Translation: X:102.00, Y:-0.88, Z:-2.21 [[ 9.99822120e-01 3.01359040e-03 1.86184450e-02 1.02003768e+02] [-2.99621751e-03 9.99995050e-01 -9.60925381e-04 -8.84187856e-01] [-1.86212487e-02 9.04969541e-04 9.99826200e-01 -2.20697280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42439141799998 meters 0.034764027739729364 Centerline is valid? [True, True] Translation: X:102.06, Y:-0.89, Z:-2.21 [[ 9.99869400e-01 2.54086038e-03 1.59601429e-02 1.02064211e+02] [-2.52798061e-03 9.99996463e-01 -8.27118541e-04 -8.91481004e-01] [-1.59621880e-02 7.86663588e-04 9.99872287e-01 -2.21263484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48439141799999 meters 0.03548483953593132 Centerline is valid? [True, True] Translation: X:102.13, Y:-0.90, Z:-2.22 [[ 9.99876822e-01 1.26906970e-03 1.56438842e-02 1.02126098e+02] [-1.25648031e-03 9.99998879e-01 -8.14550974e-04 -8.97850438e-01] [-1.56449004e-02 7.94794407e-04 9.99877295e-01 -2.21579351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54439141799998 meters 0.03590511020292542 Centerline is valid? [True, True] Translation: X:102.19, Y:-0.90, Z:-2.22 [[ 9.99916688e-01 8.63829918e-04 1.28790867e-02 1.02187957e+02] [-8.55230346e-04 9.99999408e-01 -6.73208488e-04 -8.97907857e-01] [-1.28796607e-02 6.62137816e-04 9.99916834e-01 -2.21896048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60439141799998 meters 0.03433685993703182 Centerline is valid? [True, True] Translation: X:102.25, Y:-0.89, Z:-2.22 [[ 9.99923700e-01 3.13687352e-03 1.19479982e-02 1.02249437e+02] [-3.12957763e-03 9.99994905e-01 -6.29284793e-04 -8.93123584e-01] [-1.19499113e-02 5.91844591e-04 9.99928422e-01 -2.21944994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66439141799998 meters 0.031390001560932045 Centerline is valid? [True, True] Translation: X:102.31, Y:-0.89, Z:-2.22 [[ 9.99890080e-01 7.13191892e-03 1.29985892e-02 1.02310572e+02] [-7.12361034e-03 9.99974392e-01 -6.85379414e-04 -8.90287713e-01] [-1.30031444e-02 5.92707193e-04 9.99915280e-01 -2.21961927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72439141799998 meters 0.024363180360960048 Centerline is valid? [True, True] Translation: X:102.37, Y:-0.88, Z:-2.22 [[ 9.99745227e-01 1.65707721e-02 1.53261294e-02 1.02371602e+02] [-1.65603204e-02 9.99862542e-01 -8.08619678e-04 -8.76508075e-01] [-1.53374221e-02 5.54608051e-04 9.99882221e-01 -2.21798747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78439141799998 meters 0.021608456098693496 Centerline is valid? [True, True] Translation: X:102.43, Y:-0.87, Z:-2.22 [[ 9.99586870e-01 2.38105869e-02 1.60979826e-02 1.02432709e+02] [-2.37999957e-02 9.99716379e-01 -8.49203532e-04 -8.69939322e-01] [-1.61136369e-02 4.65720783e-04 9.99870058e-01 -2.21842393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84439141799999 meters 0.018832933083104242 Centerline is valid? [True, True] Translation: X:102.49, Y:-0.86, Z:-2.22 [[ 9.99294869e-01 3.30745852e-02 1.77717945e-02 1.02493433e+02] [-3.30631316e-02 9.99452825e-01 -9.37991417e-04 -8.62581728e-01] [-1.77930939e-02 3.49738829e-04 9.99841629e-01 -2.21849621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90439141799997 meters 0.01746927261107608 Centerline is valid? [True, True] Translation: X:102.55, Y:-0.86, Z:-2.22 [[ 9.99122382e-01 3.80815499e-02 1.74430846e-02 1.02553310e+02] [-3.80712756e-02 9.99274602e-01 -9.20824665e-04 -8.55074155e-01] [-1.74654979e-02 2.55936051e-04 9.99847434e-01 -2.21950348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96439141799998 meters 0.0161255018618755 Centerline is valid? [True, True] Translation: X:102.61, Y:-0.85, Z:-2.22 [[ 9.99090363e-01 3.93546945e-02 1.64211553e-02 1.02612663e+02] [-3.93457671e-02 9.99225280e-01 -8.66495340e-04 -8.53812704e-01] [-1.64425342e-02 2.19604191e-04 9.99864788e-01 -2.22175194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02439141799998 meters 0.015873967456979183 Centerline is valid? [True, True] Translation: X:102.67, Y:-0.86, Z:-2.23 [[ 9.99052239e-01 4.10666419e-02 1.44275788e-02 1.02671288e+02] [-4.10599426e-02 9.99156396e-01 -7.60366341e-04 -8.55664166e-01] [-1.44466334e-02 1.67250135e-04 9.99895628e-01 -2.22817459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08439141799998 meters 0.015214529372799417 Centerline is valid? [True, True] Translation: X:102.73, Y:-0.85, Z:-2.23 [[ 9.98973191e-01 4.32125131e-02 1.36103709e-02 1.02730568e+02] [-4.32067638e-02 9.99065895e-01 -7.16315425e-04 -8.54578284e-01] [-1.36286112e-02 1.27519826e-04 9.99907118e-01 -2.22931906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14439141799998 meters 0.014876164740703962 Centerline is valid? [True, True] Translation: X:102.79, Y:-0.85, Z:-2.23 [[ 9.98878115e-01 4.50058386e-02 1.47304585e-02 1.02790130e+02] [-4.49993208e-02 9.98986718e-01 -7.73793329e-04 -8.52521570e-01] [-1.47503576e-02 1.10064594e-04 9.99891201e-01 -2.22824130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20439141799999 meters 0.014443664182783303 Centerline is valid? [True, True] Translation: X:102.85, Y:-0.85, Z:-2.23 [[ 9.98709283e-01 4.78298755e-02 1.70900682e-02 1.02848740e+02] [-4.78215344e-02 9.98855494e-01 -8.96634195e-04 -8.53294068e-01] [-1.71133945e-02 7.82036080e-05 9.99853552e-01 -2.22856065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26439141799999 meters 0.014397044614286805 Centerline is valid? [True, True] Translation: X:102.91, Y:-0.86, Z:-2.23 [[ 9.98658783e-01 4.88415237e-02 1.71796507e-02 1.02905986e+02] [-4.88332675e-02 9.98806539e-01 -9.00005745e-04 -8.56017094e-01] [-1.72031051e-02 5.98601649e-05 9.99852014e-01 -2.23138145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32439141799998 meters 0.014230808760834839 Centerline is valid? [True, True] Translation: X:102.96, Y:-0.86, Z:-2.23 [[ 9.98682299e-01 4.83870842e-02 1.70983995e-02 1.02963677e+02] [-4.83788688e-02 9.98828657e-01 -8.94024652e-04 -8.60075950e-01] [-1.71216307e-02 6.56453685e-05 9.99853412e-01 -2.23392324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38439141799998 meters 0.014489461654970715 Centerline is valid? [True, True] Translation: X:103.02, Y:-0.87, Z:-2.24 [[ 9.98785096e-01 4.65557998e-02 1.61520912e-02 1.03021927e+02] [-4.65482545e-02 9.98915687e-01 -8.42978761e-04 -8.66723164e-01] [-1.61738229e-02 9.01029683e-05 9.99869191e-01 -2.23724065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44439141799998 meters 0.015357893183473824 Centerline is valid? [True, True] Translation: X:103.08, Y:-0.88, Z:-2.24 [[ 9.98981042e-01 4.23735923e-02 1.55356614e-02 1.03080359e+02] [-4.23661243e-02 9.99101825e-01 -8.09645544e-04 -8.75402726e-01] [-1.55560153e-02 1.50634786e-04 9.99878987e-01 -2.23987400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50439141799998 meters 0.01589137235973922 Centerline is valid? [True, True] Translation: X:103.14, Y:-0.88, Z:-2.24 [[ 9.99061744e-01 4.04128492e-02 1.55702546e-02 1.03138956e+02] [-4.04051287e-02 9.99183051e-01 -8.10237991e-04 -8.80216362e-01] [-1.55902785e-02 1.80359642e-04 9.99878448e-01 -2.24090453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56439141799999 meters 0.015912909652888562 Centerline is valid? [True, True] Translation: X:103.20, Y:-0.88, Z:-2.24 [[ 9.99033801e-01 4.11307005e-02 1.54832038e-02 1.03196559e+02] [-4.11231687e-02 9.99153761e-01 -8.04649391e-04 -8.84644915e-01] [-1.55031971e-02 1.67153538e-04 9.99879804e-01 -2.24359692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62439141799999 meters 0.014868034949971624 Centerline is valid? [True, True] Translation: X:103.25, Y:-0.88, Z:-2.25 [[ 9.98787846e-01 4.67176847e-02 1.55014936e-02 1.03254979e+02] [-4.67108325e-02 9.98908130e-01 -8.04007250e-04 -8.82708158e-01] [-1.55221293e-02 7.89449982e-05 9.99879521e-01 -2.24536677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68439141799998 meters 0.01456839221508024 Centerline is valid? [True, True] Translation: X:103.31, Y:-0.88, Z:-2.25 [[ 9.98534012e-01 5.16583609e-02 1.61629329e-02 1.03314303e+02] [-5.16515789e-02 9.98664816e-01 -8.37050849e-04 -8.78518163e-01] [-1.61845931e-02 9.82740546e-07 9.99869021e-01 -2.24501165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74439141799998 meters 0.01499311339953977 Centerline is valid? [True, True] Translation: X:103.37, Y:-0.88, Z:-2.25 [[ 9.98223393e-01 5.69223992e-02 1.76039048e-02 1.03371897e+02] [-5.69151957e-02 9.98378601e-01 -9.10338678e-04 -8.75931395e-01] [-1.76271805e-02 -9.32083214e-05 9.99844625e-01 -2.24531296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80439141799998 meters 0.015147937170814743 Centerline is valid? [True, True] Translation: X:103.43, Y:-0.88, Z:-2.25 [[ 9.98228295e-01 5.72549590e-02 1.61907863e-02 1.03430019e+02] [-5.72489318e-02 9.98359585e-01 -8.35881406e-04 -8.80071242e-01] [-1.62120850e-02 -9.25047472e-05 9.99868571e-01 -2.24927611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86439141799998 meters 0.014899840406815912 Centerline is valid? [True, True] Translation: X:103.49, Y:-0.89, Z:-2.25 [[ 9.98396156e-01 5.45929537e-02 1.49908311e-02 1.03486525e+02] [-5.45874955e-02 9.98508692e-01 -7.73345917e-04 -8.85717455e-01] [-1.50106944e-02 -4.62063317e-05 9.99887332e-01 -2.25285012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92439141799998 meters 0.014540470947942278 Centerline is valid? [True, True] Translation: X:103.55, Y:-0.90, Z:-2.25 [[ 9.98821816e-01 4.64623337e-02 1.40082963e-02 1.03545051e+02] [-4.64567937e-02 9.98920040e-01 -7.20807382e-04 -8.96001847e-01] [-1.40266583e-02 6.91776080e-05 9.99901619e-01 -2.25236968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98439141799999 meters 0.015595391352008587 Centerline is valid? [True, True] Translation: X:103.60, Y:-0.90, Z:-2.25 [[ 9.99093240e-01 4.00010277e-02 1.45813462e-02 1.03602902e+02] [-3.99943516e-02 9.99199625e-01 -7.49284711e-04 -9.04610918e-01] [-1.45996478e-02 1.65433804e-04 9.99893406e-01 -2.25254382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04439141799998 meters 0.023167126452169128 Centerline is valid? [True, True] Translation: X:103.66, Y:-0.92, Z:-2.26 [[ 9.99437957e-01 2.99870933e-02 1.49848317e-02 1.03659812e+02] [-2.99789515e-02 9.99550235e-01 -7.67722218e-04 -9.24733010e-01] [-1.50011138e-02 3.18061184e-04 9.99887426e-01 -2.25645961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10439141799998 meters 0.02532297991411139 Centerline is valid? [True, True] Translation: X:103.72, Y:-0.93, Z:-2.26 [[ 9.99527709e-01 2.69004042e-02 1.48569124e-02 1.03719494e+02] [-2.68920714e-02 9.99638054e-01 -7.60397456e-04 -9.31728655e-01] [-1.48719900e-02 3.60505177e-04 9.99889341e-01 -2.25806131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16439141799998 meters 0.02317765008462812 Centerline is valid? [True, True] Translation: X:103.78, Y:-0.93, Z:-2.26 [[ 9.99714753e-01 1.78143609e-02 1.59078918e-02 1.03779901e+02] [-1.78036704e-02 9.99841171e-01 -8.13403533e-04 -9.31181530e-01] [-1.59198555e-02 5.29952649e-04 9.99873131e-01 -2.25522931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22439141799998 meters 0.028341576675549113 Centerline is valid? [True, True] Translation: X:103.84, Y:-0.94, Z:-2.25 [[ 9.99821834e-01 7.24493663e-03 1.74301856e-02 1.03840194e+02] [-7.23049780e-03 9.99973462e-01 -8.91258310e-04 -9.42566033e-01] [-1.74361802e-02 7.65070599e-04 9.99847686e-01 -2.25451577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28439141799998 meters 0.03158662901338303 Centerline is valid? [True, True] Translation: X:103.90, Y:-0.95, Z:-2.25 [[ 9.99829684e-01 -3.12180744e-04 1.84528177e-02 1.03900563e+02] [ 3.29651614e-04 9.99999500e-01 -9.43751812e-04 -9.52296874e-01] [-1.84525139e-02 9.49674076e-04 9.99829287e-01 -2.25461996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34439141799999 meters 0.03723436124298385 Centerline is valid? [True, True] Translation: X:103.96, Y:-0.96, Z:-2.26 [[ 9.99806147e-01 -9.98036323e-03 1.69723605e-02 1.03960653e+02] [ 9.99653252e-03 9.99949657e-01 -8.68109729e-04 -9.63187551e-01] [-1.69628420e-02 1.03760620e-03 9.99855582e-01 -2.25744027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40439141799997 meters 0.040269854519401675 Centerline is valid? [True, True] Translation: X:104.02, Y:-0.97, Z:-2.26 [[ 9.99799450e-01 -1.34803149e-02 1.48101467e-02 1.04021166e+02] [ 1.34930067e-02 9.99908678e-01 -7.57376667e-04 -9.70645894e-01] [-1.47985845e-02 9.57058184e-04 9.99890037e-01 -2.26184318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46439141799998 meters 0.03901369432055799 Centerline is valid? [True, True] Translation: X:104.08, Y:-0.97, Z:-2.26 [[ 9.99832097e-01 -1.15759051e-02 1.42047911e-02 1.04082890e+02] [ 1.15873883e-02 9.99932600e-01 -7.26369223e-04 -9.71096552e-01] [-1.41954253e-02 8.90843694e-04 9.99898843e-01 -2.26326662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52439141799998 meters 0.03614249363783022 Centerline is valid? [True, True] Translation: X:104.14, Y:-0.96, Z:-2.26 [[ 9.99909541e-01 -3.77657515e-03 1.29091823e-02 1.04142838e+02] [ 3.78542964e-03 9.99992616e-01 -6.61540496e-04 -9.63190334e-01] [-1.29065886e-02 7.10347455e-04 9.99916454e-01 -2.26399506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58439141799998 meters 0.029966296268009184 Centerline is valid? [True, True] Translation: X:104.20, Y:-0.95, Z:-2.26 [[ 9.99911118e-01 3.07122114e-03 1.29739927e-02 1.04203969e+02] [-3.06285926e-03 9.99995089e-01 -6.64331790e-04 -9.52918904e-01] [-1.29759693e-02 6.24535229e-04 9.99915614e-01 -2.26406349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64439141799998 meters 0.02456579760974218 Centerline is valid? [True, True] Translation: X:104.27, Y:-0.94, Z:-2.26 [[ 9.99785535e-01 1.45316054e-02 1.47551953e-02 1.04265415e+02] [-1.45220352e-02 9.99894264e-01 -7.55542971e-04 -9.42142083e-01] [-1.47646144e-02 5.41105468e-04 9.99890851e-01 -2.26434233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70439141799999 meters 0.021050758038583046 Centerline is valid? [True, True] Translation: X:104.33, Y:-0.93, Z:-2.26 [[ 9.99622392e-01 2.24550058e-02 1.58381077e-02 1.04327090e+02] [-2.24449678e-02 9.99747751e-01 -8.11275847e-04 -9.34854067e-01] [-1.58523298e-02 4.55483685e-04 9.99874240e-01 -2.26411261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76439141799999 meters 0.017249168916677597 Centerline is valid? [True, True] Translation: X:104.39, Y:-0.92, Z:-2.26 [[ 9.99305955e-01 3.33560316e-02 1.65826100e-02 1.04388227e+02] [-3.33465188e-02 9.99443489e-01 -8.49914386e-04 -9.24182633e-01] [-1.66017314e-02 2.96352192e-04 9.99862138e-01 -2.26417525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82439141799998 meters 0.01495291519710586 Centerline is valid? [True, True] Translation: X:104.45, Y:-0.92, Z:-2.27 [[ 9.99005901e-01 4.18719793e-02 1.52953152e-02 1.04447469e+02] [-4.18648772e-02 9.99122974e-01 -7.84361817e-04 -9.16328646e-01] [-1.53147436e-02 1.43245589e-04 9.99882712e-01 -2.26621243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88439141799998 meters 0.01439246334284264 Centerline is valid? [True, True] Translation: X:104.51, Y:-0.92, Z:-2.27 [[ 9.98837406e-01 4.61314282e-02 1.39902420e-02 1.04505174e+02] [-4.61259158e-02 9.98935376e-01 -7.16606875e-04 -9.15444951e-01] [-1.40084058e-02 7.04610259e-05 9.99901875e-01 -2.27027064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94439141799998 meters 0.014616909792520253 Centerline is valid? [True, True] Translation: X:104.56, Y:-0.91, Z:-2.28 [[ 9.98614756e-01 5.12277622e-02 1.20118770e-02 1.04563660e+02] [-5.12240804e-02 9.98686996e-01 -6.14179671e-04 -9.13183318e-01] [-1.20275684e-02 -1.96846989e-06 9.99927666e-01 -2.27545242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00439141799998 meters 0.01498282564421773 Centerline is valid? [True, True] Translation: X:104.62, Y:-0.91, Z:-2.28 [[ 9.98468662e-01 5.39018160e-02 1.24468974e-02 1.04621775e+02] [-5.38980781e-02 9.98546240e-01 -6.35797065e-04 -9.11874516e-01] [-1.24630732e-02 -3.60404048e-05 9.99922332e-01 -2.27572064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06439141799999 meters 0.015039806214595445 Centerline is valid? [True, True] Translation: X:104.68, Y:-0.91, Z:-2.27 [[ 9.98343227e-01 5.58229416e-02 1.39499094e-02 1.04681148e+02] [-5.58184661e-02 9.98440681e-01 -7.10275079e-04 -9.09949500e-01] [-1.39678067e-02 -6.95642284e-05 9.99902443e-01 -2.27308202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12439141799999 meters 0.014727288150606617 Centerline is valid? [True, True] Translation: X:104.74, Y:-0.92, Z:-2.27 [[ 9.98492227e-01 5.28616288e-02 1.47959478e-02 1.04739733e+02] [-5.28562876e-02 9.98601846e-01 -7.52081586e-04 -9.15231299e-01] [-1.48150170e-02 -3.11112538e-05 9.99890251e-01 -2.27421153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18439141799998 meters 0.014590407439959822 Centerline is valid? [True, True] Translation: X:104.80, Y:-0.92, Z:-2.28 [[ 9.98742882e-01 4.77701283e-02 1.51878177e-02 1.04797379e+02] [-4.77639265e-02 9.98858355e-01 -7.71018283e-04 -9.23414518e-01] [-1.52073103e-02 4.46192128e-05 9.99884361e-01 -2.27634387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24439141799998 meters 0.015815270771820353 Centerline is valid? [True, True] Translation: X:104.85, Y:-0.94, Z:-2.28 [[ 9.99160207e-01 3.81522054e-02 1.49429145e-02 1.04854072e+02] [-3.81451551e-02 9.99271922e-01 -7.56655487e-04 -9.37508075e-01] [-1.49609030e-02 1.86020262e-04 9.99888062e-01 -2.27900850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30439141799998 meters 0.017628106387579053 Centerline is valid? [True, True] Translation: X:104.91, Y:-0.95, Z:-2.28 [[ 9.99404304e-01 3.14188087e-02 1.42791843e-02 1.04912627e+02] [-3.14117082e-02 9.99506270e-01 -7.21324475e-04 -9.48100892e-01] [-1.42947974e-02 2.72361215e-04 9.99897787e-01 -2.27950298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36439141799998 meters 0.018218560839303646 Centerline is valid? [True, True] Translation: X:104.97, Y:-0.95, Z:-2.28 [[ 9.99442177e-01 3.02154391e-02 1.42254081e-02 1.04970761e+02] [-3.02082778e-02 9.99543368e-01 -7.18073574e-04 -9.52377320e-01] [-1.42406092e-02 2.87947938e-04 9.99898556e-01 -2.28078189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42439141799998 meters 0.01775137911611365 Centerline is valid? [True, True] Translation: X:105.03, Y:-0.96, Z:-2.28 [[ 9.99420501e-01 3.05394663e-02 1.50334133e-02 1.05029082e+02] [-3.05315315e-02 9.99533517e-01 -7.57087278e-04 -9.56418657e-01] [-1.50495215e-02 2.97655415e-04 9.99886705e-01 -2.28077393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48439141799999 meters 0.01624822080488821 Centerline is valid? [True, True] Translation: X:105.09, Y:-0.96, Z:-2.28 [[ 9.99289871e-01 3.42967309e-02 1.56041073e-02 1.05087832e+02] [-3.42886606e-02 9.99411663e-01 -7.84516267e-04 -9.58506896e-01] [-1.56218332e-02 2.48915220e-04 9.99877941e-01 -2.28310070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54439141799998 meters 0.015076562388986489 Centerline is valid? [True, True] Translation: X:105.15, Y:-0.96, Z:-2.29 [[ 9.99062617e-01 4.03326568e-02 1.57214796e-02 1.05147119e+02] [-4.03252342e-02 9.99186295e-01 -7.88975218e-04 -9.58810444e-01] [-1.57405084e-02 1.54263298e-04 9.99876099e-01 -2.28561647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60439141799998 meters 0.014501390459730526 Centerline is valid? [True, True] Translation: X:105.21, Y:-0.96, Z:-2.29 [[ 9.98898021e-01 4.43124463e-02 1.54645102e-02 1.05206444e+02] [-4.43057533e-02 9.99017717e-01 -7.75297460e-04 -9.58237727e-01] [-1.54836750e-02 8.92763220e-05 9.99880117e-01 -2.28556851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66439141799998 meters 0.014209989263453272 Centerline is valid? [True, True] Translation: X:105.26, Y:-0.96, Z:-2.28 [[ 9.98703058e-01 4.82783043e-02 1.61680950e-02 1.05264497e+02] [-4.82715290e-02 9.98833922e-01 -8.09275895e-04 -9.59988472e-01] [-1.61883122e-02 2.77676452e-05 9.99868960e-01 -2.28486948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72439141799998 meters 0.014173635048904773 Centerline is valid? [True, True] Translation: X:105.32, Y:-0.97, Z:-2.29 [[ 9.98680865e-01 4.91619989e-02 1.48198117e-02 1.05323117e+02] [-4.91564255e-02 9.98790818e-01 -7.40333800e-04 -9.69313810e-01] [-1.48382881e-02 1.08682308e-05 9.99889906e-01 -2.28998570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78439141799998 meters 0.014290962844903105 Centerline is valid? [True, True] Translation: X:105.38, Y:-0.98, Z:-2.29 [[ 9.98717545e-01 4.87843982e-02 1.35405707e-02 1.05381794e+02] [-4.87797230e-02 9.98809332e-01 -6.75520595e-04 -9.76354088e-01] [-1.35574032e-02 1.41489835e-05 9.99908094e-01 -2.29370560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84439141799999 meters 0.014434948588371202 Centerline is valid? [True, True] Translation: X:105.44, Y:-0.98, Z:-2.29 [[ 9.98755736e-01 4.78282352e-02 1.41223317e-02 1.05439936e+02] [-4.78230670e-02 9.98855575e-01 -7.03629175e-04 -9.83079783e-01] [-1.41398231e-02 2.73804582e-05 9.99900027e-01 -2.29422861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90439141799997 meters 0.014446969148223947 Centerline is valid? [True, True] Translation: X:105.50, Y:-0.99, Z:-2.29 [[ 9.98772671e-01 4.68576950e-02 1.60470683e-02 1.05498983e+02] [-4.68509366e-02 9.98901574e-01 -7.97043286e-04 -9.88310667e-01] [-1.60667894e-02 4.42448724e-05 9.99870920e-01 -2.29188082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96439141799998 meters 0.014521230280387895 Centerline is valid? [True, True] Translation: X:105.56, Y:-0.99, Z:-2.29 [[ 9.98800510e-01 4.58810078e-02 1.71018682e-02 1.05558015e+02] [-4.58732145e-02 9.98946910e-01 -8.47913532e-04 -9.93778435e-01] [-1.71227615e-02 6.23787996e-05 9.99853393e-01 -2.29123550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02439141799998 meters 0.014462550430227084 Centerline is valid? [True, True] Translation: X:105.62, Y:-1.00, Z:-2.29 [[ 9.98851924e-01 4.45849480e-02 1.75218949e-02 1.05616932e+02] [-4.45765941e-02 9.99005593e-01 -8.67239728e-04 -9.98648910e-01] [-1.75431368e-02 8.51776761e-05 9.99846104e-01 -2.29217394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08439141799998 meters 0.01478273345625324 Centerline is valid? [True, True] Translation: X:105.68, Y:-1.01, Z:-2.30 [[ 9.98930618e-01 4.24152973e-02 1.84000719e-02 1.05675042e+02] [-4.24057468e-02 9.99100058e-01 -9.09083517e-04 -1.00622671e+00] [-1.84220720e-02 1.27842568e-04 9.99830291e-01 -2.29509133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14439141799998 meters 0.015048980959677443 Centerline is valid? [True, True] Translation: X:105.73, Y:-1.02, Z:-2.30 [[ 9.98979855e-01 4.09531891e-02 1.90285646e-02 1.05733050e+02] [-4.09427406e-02 9.99161054e-01 -9.38511941e-04 -1.01548358e+00] [-1.90510357e-02 1.58472940e-04 9.99818500e-01 -2.29715718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20439141799999 meters 0.015030466859131009 Centerline is valid? [True, True] Translation: X:105.79, Y:-1.02, Z:-2.30 [[ 9.98988717e-01 4.12796649e-02 1.78194409e-02 1.05791464e+02] [-4.12705778e-02 9.99147621e-01 -8.77551220e-04 -1.01940332e+00] [-1.78404770e-02 1.41245144e-04 9.99840836e-01 -2.29826813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26439141799997 meters 0.014840084380429134 Centerline is valid? [True, True] Translation: X:105.85, Y:-1.02, Z:-2.30 [[ 9.98927327e-01 4.31928261e-02 1.66905966e-02 1.05850217e+02] [-4.31851413e-02 9.99066750e-01 -8.20740747e-04 -1.02016814e+00] [-1.67104702e-02 9.90745881e-05 9.99860365e-01 -2.29912567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32439141799998 meters 0.01440001279890433 Centerline is valid? [True, True] Translation: X:105.91, Y:-1.02, Z:-2.30 [[ 9.98699756e-01 4.80633642e-02 1.69914709e-02 1.05907474e+02] [-4.80561263e-02 9.98844289e-01 -8.34249706e-04 -1.02264985e+00] [-1.70119305e-02 1.66207052e-05 9.99855287e-01 -2.30121941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38439141799998 meters 0.015531826527694465 Centerline is valid? [True, True] Translation: X:105.97, Y:-1.03, Z:-2.31 [[ 9.98485587e-01 5.25474829e-02 1.62878751e-02 1.05966291e+02] [-5.25414545e-02 9.98618425e-01 -7.98113670e-04 -1.02613518e+00] [-1.63073110e-02 -5.88836517e-05 9.99867025e-01 -2.30517679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44439141799998 meters 0.01631271734972411 Centerline is valid? [True, True] Translation: X:106.02, Y:-1.03, Z:-2.31 [[ 9.98332017e-01 5.61246328e-02 1.35355041e-02 1.06023888e+02] [-5.61208070e-02 9.98423766e-01 -6.62614708e-04 -1.02543010e+00] [-1.35513579e-02 -9.81139337e-05 9.99908171e-01 -2.30850094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50439141799998 meters 0.015125781533392056 Centerline is valid? [True, True] Translation: X:106.08, Y:-1.03, Z:-2.31 [[ 9.98339559e-01 5.59941001e-02 1.35197941e-02 1.06081597e+02] [-5.59902864e-02 9.98431095e-01 -6.60724102e-04 -1.02844829e+00] [-1.35355795e-02 -9.73501375e-05 9.99908385e-01 -2.30607068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56439141799999 meters 0.014783495959398159 Centerline is valid? [True, True] Translation: X:106.14, Y:-1.04, Z:-2.31 [[ 9.98468862e-01 5.32898826e-02 1.48364363e-02 1.06138658e+02] [-5.32850246e-02 9.98579082e-01 -7.22830785e-04 -1.03921879e+00] [-1.48538745e-02 -6.88358436e-05 9.99889673e-01 -2.30637054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62439141799999 meters 0.014617738079239146 Centerline is valid? [True, True] Translation: X:106.20, Y:-1.05, Z:-2.31 [[ 9.98811425e-01 4.63679122e-02 1.50250969e-02 1.06196844e+02] [-4.63621715e-02 9.98924429e-01 -7.30356307e-04 -1.05251513e+00] [-1.50428014e-02 3.28921057e-05 9.99886850e-01 -2.30783924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68439141799998 meters 0.014726957123155525 Centerline is valid? [True, True] Translation: X:106.25, Y:-1.06, Z:-2.31 [[ 9.99055244e-01 4.08598247e-02 1.48018092e-02 1.06254887e+02] [-4.08536662e-02 9.99164882e-01 -7.18323345e-04 -1.06161730e+00] [-1.48187985e-02 1.12936534e-04 9.99890189e-01 -2.30929680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74439141799998 meters 0.01714025826204918 Centerline is valid? [True, True] Translation: X:106.31, Y:-1.08, Z:-2.31 [[ 9.99358287e-01 3.21020287e-02 1.58894313e-02 1.06312831e+02] [-3.20938496e-02 9.99484563e-01 -7.69545177e-04 -1.07937363e+00] [-1.59059452e-02 2.59098333e-04 9.99873459e-01 -2.31180894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80439141799998 meters 0.020084762225535374 Centerline is valid? [True, True] Translation: X:106.37, Y:-1.09, Z:-2.31 [[ 9.99584686e-01 2.40924958e-02 1.58115986e-02 1.06373075e+02] [-2.40834163e-02 9.99709660e-01 -7.64420783e-04 -1.09154396e+00] [-1.58254247e-02 3.83305996e-04 9.99874697e-01 -2.31159567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86439141799998 meters 0.022657714684550738 Centerline is valid? [True, True] Translation: X:106.43, Y:-1.10, Z:-2.31 [[ 9.99684739e-01 1.91865051e-02 1.61956697e-02 1.06434045e+02] [-1.91763371e-02 9.99815811e-01 -7.82895953e-04 -1.09761068e+00] [-1.62077077e-02 4.72075515e-04 9.99868535e-01 -2.31204856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92439141799998 meters 0.026320646070974892 Centerline is valid? [True, True] Translation: X:106.49, Y:-1.11, Z:-2.32 [[ 9.99781211e-01 1.22393296e-02 1.69625517e-02 1.06494713e+02] [-1.22271650e-02 9.99924909e-01 -8.20670018e-04 -1.11131857e+00] [-1.69713224e-02 6.13086546e-04 9.99855789e-01 -2.31542968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98439141799999 meters 0.030112465674867316 Centerline is valid? [True, True] Translation: X:106.56, Y:-1.12, Z:-2.32 [[ 9.99826406e-01 6.89822982e-03 1.73081772e-02 1.06555256e+02] [-6.88475177e-03 9.99975949e-01 -8.38175627e-04 -1.12148587e+00] [-1.73135428e-02 7.18867621e-04 9.99849851e-01 -2.31751168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04439141799998 meters 0.03272153427525009 Centerline is valid? [True, True] Translation: X:106.62, Y:-1.12, Z:-2.32 [[ 9.99849388e-01 6.08627772e-03 1.62529593e-02 1.06616763e+02] [-6.07430268e-03 9.99981242e-01 -7.86056215e-04 -1.12377872e+00] [-1.62574386e-02 6.87212431e-04 9.99867603e-01 -2.31929339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10439141799998 meters 0.027435710689005043 Centerline is valid? [True, True] Translation: X:106.68, Y:-1.12, Z:-2.32 [[ 9.99841329e-01 7.05497819e-03 1.63567984e-02 1.06679871e+02] [-7.04289950e-03 9.99974882e-01 -7.95937225e-04 -1.11749141e+00] [-1.63620029e-02 6.80611646e-04 9.99865902e-01 -2.31925061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16439141799998 meters 0.032506940178479604 Centerline is valid? [True, True] Translation: X:106.74, Y:-1.13, Z:-2.32 [[ 9.99814004e-01 8.31780372e-03 1.74003051e-02 1.06740387e+02] [-8.30430472e-03 9.99965159e-01 -8.47902854e-04 -1.12652696e+00] [-1.74067516e-02 7.03247712e-04 9.99848244e-01 -2.32112507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22439141799998 meters 0.027356264747311468 Centerline is valid? [True, True] Translation: X:106.80, Y:-1.12, Z:-2.32 [[ 9.99809422e-01 8.95113827e-03 1.73492486e-02 1.06803534e+02] [-8.93773749e-03 9.99959697e-01 -8.49797408e-04 -1.11865271e+00] [-1.73561560e-02 6.94572425e-04 9.99849129e-01 -2.32154164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28439141799998 meters 0.025628757015000468 Centerline is valid? [True, True] Translation: X:106.87, Y:-1.11, Z:-2.33 [[ 9.99806223e-01 1.24804970e-02 1.52234257e-02 1.06865209e+02] [-1.24705092e-02 9.99921958e-01 -7.50837579e-04 -1.11487881e+00] [-1.52316085e-02 5.60848213e-04 9.99883835e-01 -2.32539762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34439141799999 meters 0.023540149232122644 Centerline is valid? [True, True] Translation: X:106.93, Y:-1.11, Z:-2.33 [[ 9.99743290e-01 1.69125664e-02 1.50771080e-02 1.06926746e+02] [-1.69032640e-02 9.99856853e-01 -7.44222568e-04 -1.11153373e+00] [-1.50875365e-02 4.89179181e-04 9.99886057e-01 -2.32694717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40439141799997 meters 0.020407604934703834 Centerline is valid? [True, True] Translation: X:106.99, Y:-1.10, Z:-2.33 [[ 9.99558960e-01 2.50450391e-02 1.59571691e-02 1.06988382e+02] [-2.50356409e-02 9.99686248e-01 -7.88488100e-04 -1.10062564e+00] [-1.59719103e-02 3.88642390e-04 9.99872365e-01 -2.32514641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46439141799998 meters 0.017764186404918746 Centerline is valid? [True, True] Translation: X:107.05, Y:-1.09, Z:-2.33 [[ 9.99329864e-01 3.22359002e-02 1.73398340e-02 1.07049638e+02] [-3.22258776e-02 9.99480244e-01 -8.57188872e-04 -1.09238483e+00] [-1.73584538e-02 2.97823070e-04 9.99849286e-01 -2.32542174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52439141799998 meters 0.016714683698121038 Centerline is valid? [True, True] Translation: X:107.11, Y:-1.09, Z:-2.33 [[ 9.99196677e-01 3.58669985e-02 1.78762066e-02 1.07109239e+02] [-3.58569159e-02 9.99356543e-01 -8.84327394e-04 -1.09087058e+00] [-1.78964222e-02 2.42631358e-04 9.99839817e-01 -2.32776343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58439141799998 meters 0.016046009633501616 Centerline is valid? [True, True] Translation: X:107.17, Y:-1.09, Z:-2.33 [[ 9.99095292e-01 3.92126656e-02 1.64609911e-02 1.07167800e+02] [-3.92045782e-02 9.99230874e-01 -8.13835731e-04 -1.08774236e+00] [-1.64802432e-02 1.67753235e-04 9.99864177e-01 -2.33064615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64439141799998 meters 0.016127798737123368 Centerline is valid? [True, True] Translation: X:107.23, Y:-1.09, Z:-2.33 [[ 9.99114666e-01 3.92429875e-02 1.51615476e-02 1.07226311e+02] [-3.92361402e-02 9.99229686e-01 -7.48932064e-04 -1.08812434e+00] [-1.51792587e-02 1.53388404e-04 9.99884777e-01 -2.33272288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70439141799999 meters 0.01673526590452475 Centerline is valid? [True, True] Translation: X:107.28, Y:-1.09, Z:-2.33 [[ 9.99228164e-01 3.62097679e-02 1.52292060e-02 1.07284490e+02] [-3.62025230e-02 9.99344191e-01 -7.51227718e-04 -1.09228783e+00] [-1.52464203e-02 1.99312213e-04 9.99883747e-01 -2.33367241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76439141799997 meters 0.018931810586240865 Centerline is valid? [True, True] Translation: X:107.34, Y:-1.10, Z:-2.34 [[ 9.99427027e-01 3.00905547e-02 1.54976382e-02 1.07342388e+02] [-3.00823428e-02 9.99547133e-01 -7.62783564e-04 -1.10020724e+00] [-1.55135725e-02 2.96141244e-04 9.99879613e-01 -2.33547581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82439141799998 meters 0.02057074037226822 Centerline is valid? [True, True] Translation: X:107.40, Y:-1.11, Z:-2.34 [[ 9.99566897e-01 2.50048303e-02 1.55170123e-02 1.07401955e+02] [-2.49960075e-02 9.99687260e-01 -7.62299446e-04 -1.10589450e+00] [-1.55312207e-02 3.74105935e-04 9.99879313e-01 -2.33701486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88439141799998 meters 0.019952339663737193 Centerline is valid? [True, True] Translation: X:107.46, Y:-1.11, Z:-2.34 [[ 9.99585209e-01 2.44579316e-02 1.52058865e-02 1.07461908e+02] [-2.44494067e-02 9.99700790e-01 -7.46309239e-04 -1.10779853e+00] [-1.52195899e-02 3.74224774e-04 9.99884105e-01 -2.33822799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94439141799998 meters 0.019091667139767857 Centerline is valid? [True, True] Translation: X:107.52, Y:-1.11, Z:-2.34 [[ 9.99552335e-01 2.67733689e-02 1.33535281e-02 1.07522693e+02] [-2.67670063e-02 9.99641485e-01 -6.55002114e-04 -1.10772296e+00] [-1.33662773e-02 2.97274921e-04 9.99910623e-01 -2.34027962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00439141799998 meters 0.017171153940036567 Centerline is valid? [True, True] Translation: X:107.58, Y:-1.10, Z:-2.34 [[ 9.99340929e-01 3.37889270e-02 1.32670849e-02 1.07582333e+02] [-3.37832598e-02 9.99428971e-01 -6.51108063e-04 -1.10240318e+00] [-1.32815093e-02 2.02473560e-04 9.99911776e-01 -2.34030476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06439141799999 meters 0.015983877500152347 Centerline is valid? [True, True] Translation: X:107.64, Y:-1.10, Z:-2.34 [[ 9.99118609e-01 3.99211787e-02 1.29732620e-02 1.07640581e+02] [-3.99162763e-02 9.99202825e-01 -6.36706306e-04 -1.09965441e+00] [-1.29883381e-02 1.18300808e-04 9.99915641e-01 -2.34248280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12439141799999 meters 0.014935705213014223 Centerline is valid? [True, True] Translation: X:107.70, Y:-1.09, Z:-2.34 [[ 9.98777517e-01 4.81084807e-02 1.13597831e-02 1.07699651e+02] [-4.81052626e-02 9.98842117e-01 -5.56511915e-04 -1.09328085e+00] [-1.13734028e-02 9.36623913e-06 9.99935321e-01 -2.34400420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18439141799998 meters 0.015010045439156247 Centerline is valid? [True, True] Translation: X:107.76, Y:-1.09, Z:-2.34 [[ 9.98579979e-01 5.19574081e-02 1.17666509e-02 1.07757930e+02] [-5.19542295e-02 9.98649301e-01 -5.75857701e-04 -1.09132168e+00] [-1.17806778e-02 -3.62873127e-05 9.99930605e-01 -2.34485959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24439141799998 meters 0.01541918434874834 Centerline is valid? [True, True] Translation: X:107.82, Y:-1.09, Z:-2.35 [[ 9.98423357e-01 5.50302132e-02 1.10669068e-02 1.07816163e+02] [-5.50276056e-02 9.98484687e-01 -5.40213264e-04 -1.08879147e+00] [-1.10798650e-02 -6.96238430e-05 9.99938614e-01 -2.34596679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30439141799998 meters 0.015059394544808884 Centerline is valid? [True, True] Translation: X:107.88, Y:-1.09, Z:-2.35 [[ 9.98452371e-01 5.45974462e-02 1.05821773e-02 1.07875033e+02] [-5.45950497e-02 9.98508445e-01 -5.15422821e-04 -1.09272100e+00] [-1.05945342e-02 -6.31093593e-05 9.99943874e-01 -2.34633716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36439141799998 meters 0.014456596684515967 Centerline is valid? [True, True] Translation: X:107.93, Y:-1.10, Z:-2.35 [[ 9.98718110e-01 4.95389107e-02 1.03939307e-02 1.07933528e+02] [-4.95363331e-02 9.98772194e-01 -5.05454325e-04 -1.10030707e+00] [-1.04062086e-02 -1.00708258e-05 9.99945854e-01 -2.34746409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42439141799998 meters 0.014384218783991175 Centerline is valid? [True, True] Translation: X:107.99, Y:-1.11, Z:-2.35 [[ 9.98926130e-01 4.52430684e-02 9.98253714e-03 1.07992201e+02] [-4.52404836e-02 9.98976008e-01 -4.84708188e-04 -1.10784790e+00] [-9.99424479e-03 3.25728657e-05 9.99950056e-01 -2.34943841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48439141799999 meters 0.014900248611288795 Centerline is valid? [True, True] Translation: X:108.05, Y:-1.12, Z:-2.35 [[ 9.99198421e-01 3.86058141e-02 1.05880005e-02 1.08050399e+02] [-3.86025438e-02 9.99254512e-01 -5.13137179e-04 -1.11895048e+00] [-1.05999174e-02 1.04002105e-04 9.99943814e-01 -2.35109439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54439141799998 meters 0.015972746581898258 Centerline is valid? [True, True] Translation: X:108.11, Y:-1.13, Z:-2.35 [[ 9.99381116e-01 3.32529243e-02 1.14729300e-02 1.08108731e+02] [-3.32487440e-02 9.99446954e-01 -5.54958783e-04 -1.12713956e+00] [-1.14850390e-02 1.73154814e-04 9.99934030e-01 -2.35125543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60439141799998 meters 0.01727114589324639 Centerline is valid? [True, True] Translation: X:108.17, Y:-1.13, Z:-2.35 [[ 9.99483109e-01 2.96835514e-02 1.23451290e-02 1.08166610e+02] [-2.96784510e-02 9.99559320e-01 -5.96186278e-04 -1.13340487e+00] [-1.23573857e-02 2.29493808e-04 9.99923618e-01 -2.35147249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66439141799998 meters 0.01875199227376712 Centerline is valid? [True, True] Translation: X:108.23, Y:-1.14, Z:-2.35 [[ 9.99608176e-01 2.38827564e-02 1.45982626e-02 1.08225463e+02] [-2.38750375e-02 9.99714704e-01 -7.02822003e-04 -1.14247970e+00] [-1.46108831e-02 3.54012552e-04 9.99893193e-01 -2.35175791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72439141799998 meters 0.0211387084675723 Centerline is valid? [True, True] Translation: X:108.29, Y:-1.15, Z:-2.35 [[ 9.99726152e-01 1.79892271e-02 1.49669514e-02 1.08285842e+02] [-1.79804735e-02 9.99838080e-01 -7.19230924e-04 -1.15103854e+00] [-1.49774663e-02 4.49921091e-04 9.99887730e-01 -2.35402832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78439141799998 meters 0.024156247024701722 Centerline is valid? [True, True] Translation: X:108.35, Y:-1.16, Z:-2.36 [[ 9.99808076e-01 1.34297349e-02 1.42637351e-02 1.08345248e+02] [-1.34213211e-02 9.99909695e-01 -6.85438147e-04 -1.15881989e+00] [-1.42716523e-02 4.93868425e-04 9.99898033e-01 -2.35733263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84439141799999 meters 0.02889245923627578 Centerline is valid? [True, True] Translation: X:108.41, Y:-1.17, Z:-2.36 [[ 9.99885978e-01 5.16850967e-03 1.41886397e-02 1.08405175e+02] [-5.15935409e-03 9.99986458e-01 -6.81803448e-04 -1.16897651e+00] [-1.41919714e-02 6.08521491e-04 9.99899104e-01 -2.36008328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90439141799997 meters 0.032371409944351816 Centerline is valid? [True, True] Translation: X:108.47, Y:-1.18, Z:-2.36 [[ 9.99889007e-01 -1.33081707e-04 1.48981791e-02 1.08466290e+02] [ 1.43760189e-04 9.99999734e-01 -7.15695608e-04 -1.17669286e+00] [-1.48980799e-02 7.17757936e-04 9.99888760e-01 -2.36126702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96439141799998 meters 0.03659472472160391 Centerline is valid? [True, True] Translation: X:108.53, Y:-1.18, Z:-2.36 [[ 9.99869883e-01 -5.65253961e-03 1.51084933e-02 1.08526856e+02] [ 5.66416298e-03 9.99983694e-01 -7.26646195e-04 -1.18289827e+00] [-1.51041396e-02 8.12128614e-04 9.99885596e-01 -2.36177061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02439141799998 meters 0.03612660505143884 Centerline is valid? [True, True] Translation: X:108.59, Y:-1.18, Z:-2.36 [[ 9.99860882e-01 -6.40351061e-03 1.54016900e-02 1.08588754e+02] [ 6.41567181e-03 9.99979145e-01 -7.40322223e-04 -1.18262386e+00] [-1.53966282e-02 8.39031419e-04 9.99881113e-01 -2.36405376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08439141799998 meters 0.03506665089900097 Centerline is valid? [True, True] Translation: X:108.65, Y:-1.18, Z:-2.37 [[ 9.99865725e-01 -2.71455417e-03 1.61605504e-02 1.08649821e+02] [ 2.72749066e-03 9.99995977e-01 -7.78511468e-04 -1.17899826e+00] [-1.61583721e-02 8.22484683e-04 9.99869107e-01 -2.36557146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14439141799998 meters 0.032414060917762444 Centerline is valid? [True, True] Translation: X:108.71, Y:-1.17, Z:-2.37 [[ 9.99866418e-01 1.16107857e-03 1.63032993e-02 1.08710834e+02] [-1.14842123e-03 9.99999032e-01 -7.85707269e-04 -1.17310944e+00] [-1.63041957e-02 7.66879258e-04 9.99866784e-01 -2.36596363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20439141799999 meters 0.028924480531197633 Centerline is valid? [True, True] Translation: X:108.77, Y:-1.16, Z:-2.37 [[ 9.99803484e-01 9.37198359e-03 1.74688086e-02 1.08772014e+02] [-9.35869483e-03 9.99955852e-01 -8.42308656e-04 -1.16403365e+00] [-1.74759315e-02 6.78657880e-04 9.99847054e-01 -2.36748515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26439141799997 meters 0.024671793355387158 Centerline is valid? [True, True] Translation: X:108.83, Y:-1.16, Z:-2.37 [[ 9.99725545e-01 1.48390608e-02 1.81283319e-02 1.08833612e+02] [-1.48256458e-02 9.99889712e-01 -8.74174789e-04 -1.15763223e+00] [-1.81393045e-02 6.05170639e-04 9.99835286e-01 -2.36703245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32439141799998 meters 0.022871558426057276 Centerline is valid? [True, True] Translation: X:108.89, Y:-1.15, Z:-2.37 [[ 9.99582616e-01 2.19083677e-02 1.88312822e-02 1.08893828e+02] [-2.18951367e-02 9.99759860e-01 -9.08520783e-04 -1.15263329e+00] [-1.88466642e-02 4.95828083e-04 9.99822263e-01 -2.36855766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38439141799998 meters 0.01711060396014298 Centerline is valid? [True, True] Translation: X:108.96, Y:-1.14, Z:-2.37 [[ 9.99258508e-01 3.34428617e-02 1.90790384e-02 1.08955048e+02] [-3.34313808e-02 9.99440591e-01 -9.20473854e-04 -1.13862907e+00] [-1.90991487e-02 2.81952733e-04 9.99817555e-01 -2.36930294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44439141799998 meters 0.014665727335533915 Centerline is valid? [True, True] Translation: X:109.01, Y:-1.13, Z:-2.37 [[ 9.98846831e-01 4.38701388e-02 1.95043186e-02 1.09014931e+02] [-4.38601243e-02 9.99037238e-01 -9.41132650e-04 -1.12708062e+00] [-1.95268283e-02 8.45855246e-05 9.99809330e-01 -2.37017492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50439141799998 meters 0.014288712876789544 Centerline is valid? [True, True] Translation: X:109.07, Y:-1.12, Z:-2.37 [[ 9.98581231e-01 4.94962313e-02 1.96379246e-02 1.09074216e+02] [-4.94871873e-02 9.98774310e-01 -9.46528304e-04 -1.12214801e+00] [-1.96607042e-02 -2.66402532e-05 9.99806709e-01 -2.37058750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56439141799999 meters 0.015122428154952535 Centerline is valid? [True, True] Translation: X:109.13, Y:-1.12, Z:-2.37 [[ 9.98204149e-01 5.63171648e-02 2.04169953e-02 1.09132859e+02] [-5.63088495e-02 9.98412915e-01 -9.82386520e-04 -1.11864458e+00] [-2.04399170e-02 -1.69035214e-04 9.99791069e-01 -2.37269748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62439141799999 meters 0.01616030888103883 Centerline is valid? [True, True] Translation: X:109.19, Y:-1.12, Z:-2.37 [[ 9.97922199e-01 6.08920435e-02 2.10580874e-02 1.09191884e+02] [-6.08842525e-02 9.98144321e-01 -1.01150198e-03 -1.11862247e+00] [-2.10806028e-02 -2.72705630e-04 9.99777742e-01 -2.37427598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68439141799998 meters 0.017292253697654473 Centerline is valid? [True, True] Translation: X:109.25, Y:-1.12, Z:-2.38 [[ 9.97735282e-01 6.38573394e-02 2.11316686e-02 1.09249218e+02] [-6.38501923e-02 9.97958980e-01 -1.01344044e-03 -1.11887937e+00] [-2.11532540e-02 -3.38115822e-04 9.99776188e-01 -2.37558744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74439141799998 meters 0.016490571813804766 Centerline is valid? [True, True] Translation: X:109.31, Y:-1.13, Z:-2.38 [[ 9.97800725e-01 6.28718664e-02 2.09962052e-02 1.09308043e+02] [-6.28646628e-02 9.98021556e-01 -1.00360118e-03 -1.12674864e+00] [-2.10177637e-02 -3.18525378e-04 9.99779052e-01 -2.37708204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80439141799998 meters 0.01702619976081828 Centerline is valid? [True, True] Translation: X:109.37, Y:-1.13, Z:-2.38 [[ 9.97859973e-01 6.19092730e-02 2.10408059e-02 1.09365483e+02] [-6.19018602e-02 9.98081736e-01 -1.00405380e-03 -1.12918950e+00] [-2.10626043e-02 -3.00559922e-04 9.99778114e-01 -2.37869998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86439141799998 meters 0.015297702644344605 Centerline is valid? [True, True] Translation: X:109.42, Y:-1.14, Z:-2.38 [[ 9.98109648e-01 5.78812216e-02 2.06614440e-02 1.09423346e+02] [-5.78732527e-02 9.98323454e-01 -9.83920646e-04 -1.14250121e+00] [-2.06837547e-02 -2.13684282e-04 9.99786045e-01 -2.38170015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92439141799998 meters 0.015100450479008388 Centerline is valid? [True, True] Translation: X:109.48, Y:-1.15, Z:-2.38 [[ 9.98218524e-01 5.62749279e-02 1.98219988e-02 1.09481702e+02] [-5.62673062e-02 9.98415295e-01 -9.42462056e-04 -1.15142756e+00] [-1.98436237e-02 -1.74547390e-04 9.99803081e-01 -2.38428460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98439141799999 meters 0.015199344429334072 Centerline is valid? [True, True] Translation: X:109.54, Y:-1.16, Z:-2.39 [[ 9.98219965e-01 5.63212700e-02 1.96167263e-02 1.09538379e+02] [-5.63138413e-02 9.98412682e-01 -9.31326064e-04 -1.16096264e+00] [-1.96380418e-02 -1.75024940e-04 9.99807140e-01 -2.38573492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04439141799998 meters 0.015380205523476125 Centerline is valid? [True, True] Translation: X:109.60, Y:-1.17, Z:-2.39 [[ 9.98136216e-01 5.76426505e-02 2.00354235e-02 1.09596936e+02] [-5.76352249e-02 9.98337258e-01 -9.48338491e-04 -1.16640933e+00] [-2.00567745e-02 -2.08175148e-04 9.99798821e-01 -2.38540782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10439141799998 meters 0.016263066920295235 Centerline is valid? [True, True] Translation: X:109.65, Y:-1.17, Z:-2.39 [[ 9.97981152e-01 5.98935967e-02 2.11276455e-02 1.09653889e+02] [-5.98858790e-02 9.98204731e-01 -9.98361339e-04 -1.17496481e+00] [-2.11495111e-02 -2.68901821e-04 9.99776288e-01 -2.38615266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16439141799998 meters 0.015940298843480614 Centerline is valid? [True, True] Translation: X:109.71, Y:-1.18, Z:-2.39 [[ 9.97972635e-01 6.03353258e-02 2.02550710e-02 1.09712118e+02] [-6.03283612e-02 9.98178129e-01 -9.55266461e-04 -1.18402865e+00] [-2.02758052e-02 -2.68625454e-04 9.99794389e-01 -2.38878145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22439141799998 meters 0.015567216271420005 Centerline is valid? [True, True] Translation: X:109.77, Y:-1.20, Z:-2.39 [[ 9.98121951e-01 5.84395280e-02 1.83682356e-02 1.09770309e+02] [-5.84335031e-02 9.98290928e-01 -8.65002504e-04 -1.19667739e+00] [-1.83873933e-02 -2.09942366e-04 9.99830916e-01 -2.39269741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28439141799998 meters 0.015006079693717738 Centerline is valid? [True, True] Translation: X:109.83, Y:-1.21, Z:-2.39 [[ 9.98335753e-01 5.52594986e-02 1.64958257e-02 1.09828377e+02] [-5.52542244e-02 9.98472017e-01 -7.75673233e-04 -1.20966635e+00] [-1.65134836e-02 -1.37081731e-04 9.99863634e-01 -2.39493471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34439141799999 meters 0.014859521456315857 Centerline is valid? [True, True] Translation: X:109.89, Y:-1.22, Z:-2.40 [[ 9.98438320e-01 5.36084784e-02 1.57178700e-02 1.09886737e+02] [-5.36035040e-02 9.98562026e-01 -7.37902683e-04 -1.21790521e+00] [-1.57348260e-02 -1.05782592e-04 9.99876194e-01 -2.39577945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40439141799997 meters 0.014690347573866416 Centerline is valid? [True, True] Translation: X:109.94, Y:-1.23, Z:-2.40 [[ 9.98509107e-01 5.21772304e-02 1.60343166e-02 1.09944200e+02] [-5.21718887e-02 9.98637837e-01 -7.51543001e-04 -1.22623084e+00] [-1.60516887e-02 -8.61180501e-05 9.99871160e-01 -2.39617993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46439141799998 meters 0.014572189982838045 Centerline is valid? [True, True] Translation: X:110.00, Y:-1.23, Z:-2.40 [[ 9.98494980e-01 5.21422340e-02 1.69988722e-02 1.10002672e+02] [-5.21362577e-02 9.98639664e-01 -7.94843077e-04 -1.23353444e+00] [-1.70171929e-02 -9.26107600e-05 9.99855193e-01 -2.39673465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52439141799998 meters 0.014302554229838099 Centerline is valid? [True, True] Translation: X:110.06, Y:-1.24, Z:-2.40 [[ 9.98531725e-01 5.13767738e-02 1.71703863e-02 1.10061342e+02] [-5.13705869e-02 9.98679338e-01 -8.01478728e-04 -1.24417436e+00] [-1.71888875e-02 -8.17508876e-05 9.99852257e-01 -2.39808188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58439141799998 meters 0.014089305240730801 Centerline is valid? [True, True] Translation: X:110.12, Y:-1.26, Z:-2.40 [[ 9.98608691e-01 4.97362626e-02 1.75210134e-02 1.10119425e+02] [-4.97295931e-02 9.98762385e-01 -8.16414668e-04 -1.25542756e+00] [-1.75399345e-02 -5.60340833e-05 9.99846162e-01 -2.39789373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64439141799998 meters 0.01403846831746013 Centerline is valid? [True, True] Translation: X:110.18, Y:-1.26, Z:-2.40 [[ 9.98650363e-01 4.89838589e-02 1.72636420e-02 1.10177968e+02] [-4.89772943e-02 9.98799569e-01 -8.03098866e-04 -1.26093957e+00] [-1.72822571e-02 -4.35115011e-05 9.99850650e-01 -2.39905197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70439141799999 meters 0.013920187859122782 Centerline is valid? [True, True] Translation: X:110.24, Y:-1.27, Z:-2.40 [[ 9.98752528e-01 4.69222288e-02 1.70790064e-02 1.10236552e+02] [-4.69155246e-02 9.98898546e-01 -7.93211097e-04 -1.27255232e+00] [-1.70974139e-02 -9.04895940e-06 9.99853828e-01 -2.40024822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76439141799997 meters 0.013845764247981339 Centerline is valid? [True, True] Translation: X:110.29, Y:-1.28, Z:-2.40 [[ 9.98879571e-01 4.45869256e-02 1.58621874e-02 1.10293582e+02] [-4.45808643e-02 9.99005508e-01 -7.35691640e-04 -1.28443187e+00] [-1.58792148e-02 2.77173276e-05 9.99873917e-01 -2.40373193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82439141799998 meters 0.014064052854977891 Centerline is valid? [True, True] Translation: X:110.35, Y:-1.29, Z:-2.41 [[ 9.98965577e-01 4.29643428e-02 1.48943214e-02 1.10352333e+02] [-4.29588396e-02 9.99076605e-01 -6.89374323e-04 -1.29262646e+00] [-1.49101866e-02 4.88184545e-05 9.99888836e-01 -2.40673398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88439141799998 meters 0.014475135927961702 Centerline is valid? [True, True] Translation: X:110.41, Y:-1.30, Z:-2.41 [[ 9.99080286e-01 4.04189269e-02 1.43140798e-02 1.10410773e+02] [-4.04135978e-02 9.99182818e-01 -6.61477706e-04 -1.30173341e+00] [-1.43291188e-02 8.23858707e-05 9.99897330e-01 -2.40794027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94439141799998 meters 0.014548297152634015 Centerline is valid? [True, True] Translation: X:110.47, Y:-1.31, Z:-2.41 [[ 9.99092129e-01 3.99219104e-02 1.48714236e-02 1.10468620e+02] [-3.99161189e-02 9.99202799e-01 -6.86172598e-04 -1.30877533e+00] [-1.48869614e-02 9.19401296e-05 9.99889179e-01 -2.40775470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00439141799998 meters 0.014274933833158067 Centerline is valid? [True, True] Translation: X:110.53, Y:-1.31, Z:-2.41 [[ 9.99061354e-01 4.06703825e-02 1.49107926e-02 1.10527073e+02] [-4.06646662e-02 9.99172615e-01 -6.86482932e-04 -1.31352873e+00] [-1.49263752e-02 7.94961639e-05 9.99888592e-01 -2.40867328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06439141799999 meters 0.013957121278065423 Centerline is valid? [True, True] Translation: X:110.59, Y:-1.32, Z:-2.41 [[ 9.98953784e-01 4.32047027e-02 1.49896832e-02 1.10585547e+02] [-4.31992303e-02 9.99066240e-01 -6.88823788e-04 -1.31834986e+00] [-1.50054469e-02 4.05603515e-05 9.99887411e-01 -2.41043150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12439141799997 meters 0.013787648693124705 Centerline is valid? [True, True] Translation: X:110.64, Y:-1.32, Z:-2.41 [[ 9.98869690e-01 4.49476101e-02 1.54613885e-02 1.10643987e+02] [-4.49420088e-02 9.98989345e-01 -7.09721580e-04 -1.32389552e+00] [-1.54776627e-02 1.40535181e-05 9.99880214e-01 -2.41022415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18439141799998 meters 0.013810186947460612 Centerline is valid? [True, True] Translation: X:110.70, Y:-1.33, Z:-2.41 [[ 9.98866241e-01 4.49970089e-02 1.55403228e-02 1.10703352e+02] [-4.49913785e-02 9.98987122e-01 -7.11910841e-04 -1.33069025e+00] [-1.55566162e-02 1.19231600e-05 9.99878988e-01 -2.41123024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24439141799998 meters 0.014112945201829433 Centerline is valid? [True, True] Translation: X:110.76, Y:-1.34, Z:-2.41 [[ 9.98952097e-01 4.35676048e-02 1.40204383e-02 1.10761412e+02] [-4.35628849e-02 9.99050481e-01 -6.42009331e-04 -1.33974046e+00] [-1.40350965e-02 3.05658245e-05 9.99901503e-01 -2.41449488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30439141799998 meters 0.014417947277874502 Centerline is valid? [True, True] Translation: X:110.82, Y:-1.35, Z:-2.42 [[ 9.99005161e-01 4.27019367e-02 1.28542875e-02 1.10820821e+02] [-4.26979082e-02 9.99087856e-01 -5.87797265e-04 -1.34823426e+00] [-1.28676626e-02 3.83613136e-05 9.99917207e-01 -2.41745177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36439141799998 meters 0.014192583354333476 Centerline is valid? [True, True] Translation: X:110.88, Y:-1.36, Z:-2.42 [[ 9.99034377e-01 4.20588022e-02 1.27031830e-02 1.10880101e+02] [-4.20548216e-02 9.99115136e-01 -5.80429825e-04 -1.35517865e+00] [-1.27163546e-02 4.56392545e-05 9.99919143e-01 -2.41744319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42439141799998 meters 0.014434690419979383 Centerline is valid? [True, True] Translation: X:110.94, Y:-1.36, Z:-2.42 [[ 9.99086774e-01 4.10488458e-02 1.18579555e-02 1.10938157e+02] [-4.10453091e-02 9.99157139e-01 -5.41570877e-04 -1.36391257e+00] [-1.18701917e-02 5.43628534e-05 9.99929545e-01 -2.41946764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48439141799999 meters 0.014543851710178135 Centerline is valid? [True, True] Translation: X:111.00, Y:-1.37, Z:-2.42 [[ 9.99135188e-01 3.99402358e-02 1.15608714e-02 1.10996395e+02] [-3.99368050e-02 9.99202068e-01 -5.27558384e-04 -1.36891234e+00] [-1.15727174e-02 6.53978786e-05 9.99933032e-01 -2.41942256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54439141799998 meters 0.015284108061957772 Centerline is valid? [True, True] Translation: X:111.05, Y:-1.38, Z:-2.42 [[ 9.99202922e-01 3.83768844e-02 1.09879980e-02 1.11054728e+02] [-3.83737029e-02 9.99263333e-01 -5.00303484e-04 -1.37793593e+00] [-1.09991036e-02 7.82545329e-05 9.99939505e-01 -2.42247602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60439141799998 meters 0.015477808333538578 Centerline is valid? [True, True] Translation: X:111.11, Y:-1.39, Z:-2.42 [[ 9.99278681e-01 3.59844099e-02 1.21342286e-02 1.11114416e+02] [-3.59803675e-02 9.99352345e-01 -5.51347408e-04 -1.38791835e+00] [-1.21462097e-02 1.14355706e-04 9.99926226e-01 -2.42190352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66439141799998 meters 0.015892091977651904 Centerline is valid? [True, True] Translation: X:111.17, Y:-1.40, Z:-2.42 [[ 9.99333812e-01 3.41140770e-02 1.29677077e-02 1.11174598e+02] [-3.41093156e-02 9.99417935e-01 -5.88233693e-04 -1.39579956e+00] [-1.29802267e-02 1.45522183e-04 9.99915743e-01 -2.42243171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72439141799998 meters 0.016393890511042498 Centerline is valid? [True, True] Translation: X:111.23, Y:-1.40, Z:-2.42 [[ 9.99398062e-01 3.21341617e-02 1.30732238e-02 1.11234648e+02] [-3.21291531e-02 9.99483550e-01 -5.93020054e-04 -1.40182458e+00] [-1.30855284e-02 1.72631482e-04 9.99914366e-01 -2.42230646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78439141799998 meters 0.0176883065522866 Centerline is valid? [True, True] Translation: X:111.30, Y:-1.41, Z:-2.42 [[ 9.99448664e-01 3.04890394e-02 1.31448184e-02 1.11295106e+02] [-3.04838360e-02 9.99535082e-01 -5.96080812e-04 -1.40904429e+00] [-1.31568811e-02 1.95047682e-04 9.99913425e-01 -2.42375078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84439141799999 meters 0.020324871991104075 Centerline is valid? [True, True] Translation: X:111.36, Y:-1.42, Z:-2.43 [[ 9.99517997e-01 2.89092888e-02 1.13149085e-02 1.11355626e+02] [-2.89053391e-02 9.99582022e-01 -5.12483484e-04 -1.41556718e+00] [-1.13249947e-02 1.85175196e-04 9.99935853e-01 -2.42715649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90439141799997 meters 0.018096019220756192 Centerline is valid? [True, True] Translation: X:111.42, Y:-1.42, Z:-2.43 [[ 9.99550207e-01 2.74809928e-02 1.20074504e-02 1.11416268e+02] [-2.74764151e-02 9.99622303e-01 -5.46065450e-04 -1.41987471e+00] [-1.20179216e-02 2.15898143e-04 9.99927759e-01 -2.42719488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96439141799998 meters 0.017865884978882186 Centerline is valid? [True, True] Translation: X:111.48, Y:-1.42, Z:-2.43 [[ 9.99522817e-01 2.86729854e-02 1.14890161e-02 1.11477594e+02] [-2.86688784e-02 9.99588827e-01 -5.22037043e-04 -1.42284985e+00] [-1.14992605e-02 1.92410732e-04 9.99933863e-01 -2.42917047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02439141799998 meters 0.015667004945670426 Centerline is valid? [True, True] Translation: X:111.54, Y:-1.42, Z:-2.43 [[ 9.99334724e-01 3.43023830e-02 1.23877684e-02 1.11538341e+02] [-3.42980280e-02 9.99411490e-01 -5.63891999e-04 -1.42067241e+00] [-1.23998209e-02 1.38640828e-04 9.99923110e-01 -2.42894714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08439141799998 meters 0.014279904037014629 Centerline is valid? [True, True] Translation: X:111.60, Y:-1.42, Z:-2.43 [[ 9.99140736e-01 3.94318859e-02 1.27638612e-02 1.11598002e+02] [-3.94276758e-02 9.99222258e-01 -5.81410789e-04 -1.41862391e+00] [-1.27768604e-02 7.76618218e-05 9.99918370e-01 -2.42901579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14439141799998 meters 0.014013948458023118 Centerline is valid? [True, True] Translation: X:111.66, Y:-1.41, Z:-2.43 [[ 9.98800694e-01 4.72152821e-02 1.29572872e-02 1.11658351e+02] [-4.72116054e-02 9.98884736e-01 -5.89660464e-04 -1.41368676e+00] [-1.29706774e-02 -2.27810492e-05 9.99915877e-01 -2.42915720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20439141799999 meters 0.014509805971047075 Centerline is valid? [True, True] Translation: X:111.72, Y:-1.41, Z:-2.43 [[ 9.98584033e-01 5.14484970e-02 1.35270513e-02 1.11716912e+02] [-5.14448818e-02 9.98675646e-01 -6.15320465e-04 -1.41273552e+00] [-1.35407940e-02 -8.14483634e-05 9.99908316e-01 -2.43062496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26439141799997 meters 0.014067443310812326 Centerline is valid? [True, True] Translation: X:111.78, Y:-1.42, Z:-2.43 [[ 9.98719345e-01 4.88179673e-02 1.32844104e-02 1.11775211e+02] [-4.88142628e-02 9.98807691e-01 -6.03162934e-04 -1.41934570e+00] [-1.32980164e-02 -4.60782079e-05 9.99911576e-01 -2.43251524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32439141799998 meters 0.013765202191232775 Centerline is valid? [True, True] Translation: X:111.83, Y:-1.43, Z:-2.43 [[ 9.98947715e-01 4.40923309e-02 1.26225512e-02 1.11833993e+02] [-4.40886251e-02 9.99027460e-01 -5.71843212e-04 -1.42679137e+00] [-1.26354891e-02 1.47305444e-05 9.99920169e-01 -2.43426978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38439141799998 meters 0.01833888640263037 Centerline is valid? [True, True] Translation: X:111.89, Y:-1.44, Z:-2.44 [[ 9.99259304e-01 3.65818457e-02 1.19420451e-02 1.11893297e+02] [-3.65780061e-02 9.99330655e-01 -5.39848089e-04 -1.43626743e+00] [-1.19538004e-02 1.02632025e-04 9.99928546e-01 -2.43762556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44439141799998 meters 0.017650120243353728 Centerline is valid? [True, True] Translation: X:111.95, Y:-1.45, Z:-2.44 [[ 9.99516830e-01 2.78394239e-02 1.38229374e-02 1.11953173e+02] [-2.78334510e-02 9.99612379e-01 -6.24330338e-04 -1.44577603e+00] [-1.38349603e-02 2.39288631e-04 9.99904264e-01 -2.43565725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50439141799998 meters 0.018882729032052653 Centerline is valid? [True, True] Translation: X:112.02, Y:-1.45, Z:-2.44 [[ 9.99559174e-01 2.62055069e-02 1.39545400e-02 1.12015375e+02] [-2.61992953e-02 9.99656542e-01 -6.27784332e-04 -1.45088220e+00] [-1.39661986e-02 2.61908475e-04 9.99902434e-01 -2.43767942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56439141799999 meters 0.0218697159255926 Centerline is valid? [True, True] Translation: X:112.08, Y:-1.46, Z:-2.44 [[ 9.99705994e-01 1.93903155e-02 1.45581797e-02 1.12076352e+02] [-1.93827339e-02 9.99811918e-01 -6.61705312e-04 -1.45940263e+00] [-1.45682723e-02 3.79333443e-04 9.99893805e-01 -2.43887939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62439141799997 meters 0.024493124509066284 Centerline is valid? [True, True] Translation: X:112.14, Y:-1.47, Z:-2.44 [[ 9.99778872e-01 1.49650074e-02 1.47734757e-02 1.12138585e+02] [-1.49567121e-02 9.99887916e-01 -6.71834865e-04 -1.46512329e+00] [-1.47818738e-02 4.50723682e-04 9.99890641e-01 -2.43997666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68439141799998 meters 0.027921867656908655 Centerline is valid? [True, True] Translation: X:112.20, Y:-1.47, Z:-2.44 [[ 9.99847294e-01 8.01823756e-03 1.55273145e-02 1.12199397e+02] [-8.00820845e-03 9.99967683e-01 -7.07971034e-04 -1.47215533e+00] [-1.55324894e-02 5.83516951e-04 9.99879193e-01 -2.44055421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74439141799998 meters 0.033003119479339364 Centerline is valid? [True, True] Translation: X:112.26, Y:-1.48, Z:-2.44 [[ 9.99869486e-01 2.23784961e-03 1.60000691e-02 1.12258784e+02] [-2.22646155e-03 9.99997255e-01 -7.29528232e-04 -1.47852006e+00] [-1.60016577e-02 6.93809481e-04 9.99871725e-01 -2.44279084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80439141799998 meters 0.02897506205092759 Centerline is valid? [True, True] Translation: X:112.32, Y:-1.47, Z:-2.44 [[ 9.99868050e-01 7.93563487e-04 1.62250779e-02 1.12321761e+02] [-7.81662251e-04 9.99999421e-01 -7.39837237e-04 -1.47197101e+00] [-1.62256556e-02 7.27057084e-04 9.99868091e-01 -2.44366346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86439141799998 meters 0.02880982119337352 Centerline is valid? [True, True] Translation: X:112.38, Y:-1.47, Z:-2.45 [[ 9.99866612e-01 2.75952373e-03 1.60979567e-02 1.12384577e+02] [-2.74796551e-03 9.99995950e-01 -7.40068768e-04 -1.46820510e+00] [-1.60999338e-02 6.95733421e-04 9.99870146e-01 -2.44560674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92439141799998 meters 0.026575960961046956 Centerline is valid? [True, True] Translation: X:112.44, Y:-1.46, Z:-2.45 [[ 9.99820257e-01 8.94522859e-03 1.67163699e-02 1.12444628e+02] [-8.93359684e-03 9.99959798e-01 -7.70376106e-04 -1.45839812e+00] [-1.67225891e-02 6.20900326e-04 9.99859975e-01 -2.44567990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98439141799999 meters 0.02438363559720526 Centerline is valid? [True, True] Translation: X:112.51, Y:-1.45, Z:-2.45 [[ 9.99761402e-01 1.39284996e-02 1.68266521e-02 1.12507063e+02] [-1.39173945e-02 9.99902847e-01 -7.76898479e-04 -1.45021231e+00] [-1.68358383e-02 5.42529957e-04 9.99858120e-01 -2.44643818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04439141799998 meters 0.022570781039988833 Centerline is valid? [True, True] Translation: X:112.57, Y:-1.44, Z:-2.45 [[ 9.99695439e-01 1.84107359e-02 1.64339009e-02 1.12568712e+02] [-1.84007311e-02 9.99830404e-01 -7.59803063e-04 -1.44333675e+00] [-1.64451023e-02 4.57175865e-04 9.99864666e-01 -2.44817817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10439141799998 meters 0.02181964537167012 Centerline is valid? [True, True] Translation: X:112.63, Y:-1.43, Z:-2.45 [[ 9.99598692e-01 2.25935135e-02 1.70876596e-02 1.12629788e+02] [-2.25832955e-02 9.99744652e-01 -7.90724090e-04 -1.43441115e+00] [-1.71011615e-02 4.04511100e-04 9.99853683e-01 -2.45133314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16439141799998 meters 0.021595626634347234 Centerline is valid? [True, True] Translation: X:112.69, Y:-1.43, Z:-2.45 [[ 9.99608561e-01 2.14695604e-02 1.79382908e-02 1.12692232e+02] [-2.14581224e-02 9.99769404e-01 -8.29885905e-04 -1.43310664e+00] [-1.79519716e-02 4.44639016e-04 9.99838752e-01 -2.45117389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22439141799998 meters 0.021696406772001818 Centerline is valid? [True, True] Translation: X:112.75, Y:-1.43, Z:-2.45 [[ 9.99700560e-01 1.72720973e-02 1.73339455e-02 1.12754918e+02] [-1.72606958e-02 9.99850697e-01 -8.07161901e-04 -1.42999182e+00] [-1.73452989e-02 5.07724244e-04 9.99849430e-01 -2.45236478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28439141799998 meters 0.024093708630177624 Centerline is valid? [True, True] Translation: X:112.82, Y:-1.43, Z:-2.45 [[ 9.99794686e-01 1.09790847e-02 1.70307085e-02 1.12816261e+02] [-1.09671403e-02 9.99939543e-01 -7.94583751e-04 -1.43096282e+00] [-1.70384027e-02 6.07642443e-04 9.99854651e-01 -2.45358246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34439141799999 meters 0.03148394321327604 Centerline is valid? [True, True] Translation: X:112.88, Y:-1.44, Z:-2.46 [[ 9.99814148e-01 7.69244099e-03 1.76775436e-02 1.12876439e+02] [-7.67904554e-03 9.99970175e-01 -8.25520884e-04 -1.44031261e+00] [-1.76833666e-02 6.89620797e-04 9.99843399e-01 -2.45537060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40439141799997 meters 0.027618251032764243 Centerline is valid? [True, True] Translation: X:112.94, Y:-1.43, Z:-2.46 [[ 9.99818951e-01 4.51695927e-03 1.84841318e-02 1.12938826e+02] [-4.50175958e-03 9.99989494e-01 -8.63836956e-04 -1.43234621e+00] [-1.84878396e-02 7.80469441e-04 9.99828781e-01 -2.45585702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46439141799998 meters 0.028796393033439845 Centerline is valid? [True, True] Translation: X:113.00, Y:-1.43, Z:-2.46 [[ 9.99815658e-01 2.36130512e-03 1.90544900e-02 1.13001230e+02] [-2.34473147e-03 9.99996853e-01 -8.92096720e-04 -1.43107082e+00] [-1.90565365e-02 8.47254607e-04 9.99818049e-01 -2.45677416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52439141799998 meters 0.030206594820538932 Centerline is valid? [True, True] Translation: X:113.06, Y:-1.43, Z:-2.46 [[ 9.99817512e-01 2.00629687e-03 1.89978507e-02 1.13062569e+02] [-1.98973852e-03 9.99997624e-01 -8.90452667e-04 -1.43064368e+00] [-1.89995921e-02 8.52489414e-04 9.99819128e-01 -2.45739926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58439141799998 meters 0.031161532923238856 Centerline is valid? [True, True] Translation: X:113.13, Y:-1.43, Z:-2.46 [[ 9.99832046e-01 1.70923490e-03 1.82471332e-02 1.13125213e+02] [-1.69382875e-03 9.99998196e-01 -8.59726730e-04 -1.43020640e+00] [-1.82485698e-02 8.28674816e-04 9.99833138e-01 -2.45852741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64439141799998 meters 0.02885389505057274 Centerline is valid? [True, True] Translation: X:113.19, Y:-1.43, Z:-2.46 [[ 9.99829157e-01 1.41354871e-03 1.84298461e-02 1.13187198e+02] [-1.39768691e-03 9.99998642e-01 -8.73510362e-04 -1.42646988e+00] [-1.84310559e-02 8.47601974e-04 9.99829774e-01 -2.45995086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70439141799999 meters 0.03359850959760526 Centerline is valid? [True, True] Translation: X:113.25, Y:-1.43, Z:-2.46 [[ 9.99853872e-01 1.15787829e-03 1.70556347e-02 1.13248020e+02] [-1.14418563e-03 9.99999015e-01 -8.12559565e-04 -1.43094319e+00] [-1.70565587e-02 7.92926015e-04 9.99854212e-01 -2.46306873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76439141799997 meters 0.03352876389912288 Centerline is valid? [True, True] Translation: X:113.31, Y:-1.43, Z:-2.46 [[ 9.99865564e-01 1.27954822e-03 1.63467863e-02 1.13311611e+02] [-1.26692369e-03 9.99998891e-01 -7.82626782e-04 -1.42917447e+00] [-1.63477696e-02 7.61811437e-04 9.99866076e-01 -2.46463903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82439141799998 meters 0.02843855268231739 Centerline is valid? [True, True] Translation: X:113.37, Y:-1.42, Z:-2.47 [[ 9.99883167e-01 3.18468904e-03 1.49502848e-02 1.13374427e+02] [-3.17425846e-03 9.99994702e-01 -7.21361518e-04 -1.41963514e+00] [-1.49525029e-02 6.73821171e-04 9.99887978e-01 -2.46596025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88439141799998 meters 0.028348223799033477 Centerline is valid? [True, True] Translation: X:113.44, Y:-1.42, Z:-2.47 [[ 9.99878552e-01 7.34789816e-03 1.37437274e-02 1.13435690e+02] [-7.33945755e-03 9.99972845e-01 -6.64480388e-04 -1.41567863e+00] [-1.37482367e-02 5.63528184e-04 9.99905330e-01 -2.46713984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94439141799998 meters 0.024668234685433985 Centerline is valid? [True, True] Translation: X:113.50, Y:-1.41, Z:-2.47 [[ 9.99786268e-01 1.48438874e-02 1.43901906e-02 1.13496654e+02] [-1.48353965e-02 9.99889707e-01 -6.96620072e-04 -1.40558551e+00] [-1.43989440e-02 4.82986998e-04 9.99896213e-01 -2.46690217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00439141799998 meters 0.02203910110382613 Centerline is valid? [True, True] Translation: X:113.56, Y:-1.40, Z:-2.47 [[ 9.99665467e-01 2.15430887e-02 1.43125544e-02 1.13556460e+02] [-2.15353707e-02 9.99767847e-01 -6.93164061e-04 -1.40089612e+00] [-1.43241646e-02 3.84706010e-04 9.99897330e-01 -2.46863028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06439141799999 meters 0.017289193808189426 Centerline is valid? [True, True] Translation: X:113.62, Y:-1.39, Z:-2.47 [[ 9.99405866e-01 3.14291918e-02 1.41463840e-02 1.13617428e+02] [-3.14226476e-02 9.99505952e-01 -6.84696315e-04 -1.38901321e+00] [-1.41609144e-02 2.39772676e-04 9.99899700e-01 -2.46972876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12439141799997 meters 0.015555113778150989 Centerline is valid? [True, True] Translation: X:113.68, Y:-1.38, Z:-2.47 [[ 9.99203013e-01 3.67990125e-02 1.54651900e-02 1.13676577e+02] [-3.67918259e-02 9.99322671e-01 -7.49050511e-04 -1.38340138e+00] [-1.54822793e-02 1.79460950e-04 9.99880126e-01 -2.46884253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18439141799998 meters 0.014600895878659098 Centerline is valid? [True, True] Translation: X:113.74, Y:-1.38, Z:-2.47 [[ 9.98996742e-01 4.18468549e-02 1.59483689e-02 1.13735712e+02] [-4.18398765e-02 9.99124031e-01 -7.71119651e-04 -1.37953694e+00] [-1.59666676e-02 1.03068233e-04 9.99872519e-01 -2.47010849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24439141799998 meters 0.014640596624672583 Centerline is valid? [True, True] Translation: X:113.79, Y:-1.38, Z:-2.47 [[ 9.98959024e-01 4.28805197e-02 1.55605116e-02 1.13794758e+02] [-4.28740203e-02 9.99080204e-01 -7.51186806e-04 -1.38123140e+00] [-1.55784104e-02 8.32631475e-05 9.99878646e-01 -2.47241488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30439141799998 meters 0.014781051545975189 Centerline is valid? [True, True] Translation: X:113.85, Y:-1.38, Z:-2.47 [[ 9.99057331e-01 4.09123073e-02 1.45132117e-02 1.13853203e+02] [-4.09064605e-02 9.99162736e-01 -6.99611593e-04 -1.38457973e+00] [-1.45296830e-02 1.05267969e-04 9.99894433e-01 -2.47430329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36439141799998 meters 0.015713439919585116 Centerline is valid? [True, True] Translation: X:113.91, Y:-1.39, Z:-2.48 [[ 9.99253440e-01 3.65229950e-02 1.25950113e-02 1.13910728e+02] [-3.65182506e-02 9.99332802e-01 -6.06544051e-04 -1.39243504e+00] [-1.26087608e-02 1.46143449e-04 9.99920496e-01 -2.47757483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42439141799998 meters 0.017301180724585172 Centerline is valid? [True, True] Translation: X:113.97, Y:-1.40, Z:-2.48 [[ 9.99416891e-01 3.18859992e-02 1.22131127e-02 1.13969330e+02] [-3.18812084e-02 9.99491493e-01 -5.86811956e-04 -1.40075974e+00] [-1.22256133e-02 1.97100991e-04 9.99925245e-01 -2.47953186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48439141799997 meters 0.017825564573743582 Centerline is valid? [True, True] Translation: X:114.03, Y:-1.41, Z:-2.48 [[ 9.99520895e-01 2.87104565e-02 1.15624632e-02 1.14027823e+02] [-2.87059592e-02 9.99587745e-01 -5.54765331e-04 -1.40598533e+00] [-1.15736241e-02 2.22587943e-04 9.99932999e-01 -2.48031024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54439141799998 meters 0.019048214213150828 Centerline is valid? [True, True] Translation: X:114.09, Y:-1.41, Z:-2.48 [[ 9.99647678e-01 2.41834622e-02 1.09398275e-02 1.14086566e+02] [-2.41791760e-02 9.99707504e-01 -5.23905203e-04 -1.41340277e+00] [-1.09492975e-02 2.59204605e-04 9.99940021e-01 -2.48224115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60439141799998 meters 0.02159717549684371 Centerline is valid? [True, True] Translation: X:114.14, Y:-1.42, Z:-2.48 [[ 9.99709055e-01 2.13084793e-02 1.13028401e-02 1.14144309e+02] [-2.13037263e-02 9.99772904e-01 -5.40766599e-04 -1.42171546e+00] [-1.13117962e-02 2.99816654e-04 9.99935975e-01 -2.48409522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66439141799998 meters 0.022729320131894465 Centerline is valid? [True, True] Translation: X:114.20, Y:-1.43, Z:-2.48 [[ 9.99794135e-01 1.63428542e-02 1.20249163e-02 1.14204580e+02] [-1.63371381e-02 9.99866376e-01 -5.73438636e-04 -1.42701854e+00] [-1.20326811e-02 3.76867868e-04 9.99927534e-01 -2.48313143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72439141799998 meters 0.024297905259215206 Centerline is valid? [True, True] Translation: X:114.27, Y:-1.43, Z:-2.48 [[ 9.99846196e-01 1.30507399e-02 1.17159024e-02 1.14265759e+02] [-1.30450929e-02 9.99914753e-01 -5.58289097e-04 -1.43312716e+00] [-1.17221898e-02 4.05368194e-04 9.99931211e-01 -2.48472252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78439141799998 meters 0.027773080623005188 Centerline is valid? [True, True] Translation: X:114.33, Y:-1.44, Z:-2.49 [[ 9.99897706e-01 8.61046935e-03 1.14209019e-02 1.14325480e+02] [-8.60480406e-03 9.99962829e-01 -5.45092737e-04 -1.44233793e+00] [-1.14251709e-02 4.46762355e-04 9.99934631e-01 -2.48738762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84439141799999 meters 0.032009994818783305 Centerline is valid? [True, True] Translation: X:114.39, Y:-1.45, Z:-2.49 [[ 9.99940490e-01 9.70431963e-04 1.08662341e-02 1.14386086e+02] [-9.64853764e-04 9.99999400e-01 -5.18582245e-04 -1.45149224e+00] [-1.08667308e-02 5.08067057e-04 9.99940826e-01 -2.48908842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90439141799997 meters 0.03356353328766232 Centerline is valid? [True, True] Translation: X:114.45, Y:-1.46, Z:-2.49 [[ 9.99926530e-01 -6.03112571e-03 1.05147162e-02 1.14446031e+02] [ 6.03673454e-03 9.99981653e-01 -5.01769596e-04 -1.45607111e+00] [-1.05114971e-02 5.65207282e-04 9.99944593e-01 -2.48992716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96439141799998 meters 0.037341894026783506 Centerline is valid? [True, True] Translation: X:114.51, Y:-1.46, Z:-2.49 [[ 9.99885324e-01 -1.08612777e-02 1.05533125e-02 1.14506493e+02] [ 1.08671974e-02 9.99940823e-01 -5.03754016e-04 -1.46293475e+00] [-1.05472166e-02 6.18381178e-04 9.99944185e-01 -2.49105513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02439141799998 meters 0.03802038517796142 Centerline is valid? [True, True] Translation: X:114.57, Y:-1.47, Z:-2.49 [[ 9.99863568e-01 -1.25334786e-02 1.07590348e-02 1.14568810e+02] [ 1.25397195e-02 9.99921243e-01 -5.12793011e-04 -1.46520464e+00] [-1.07517604e-02 6.47638328e-04 9.99941988e-01 -2.49184985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08439141799998 meters 0.03811959437182292 Centerline is valid? [True, True] Translation: X:114.63, Y:-1.46, Z:-2.49 [[ 9.99866720e-01 -1.28268602e-02 1.01001863e-02 1.14630881e+02] [ 1.28323821e-02 9.99917545e-01 -4.82095786e-04 -1.46424799e+00] [-1.00931697e-02 6.11640982e-04 9.99948876e-01 -2.49354965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14439141799998 meters 0.03897121194871932 Centerline is valid? [True, True] Translation: X:114.69, Y:-1.46, Z:-2.50 [[ 9.99899341e-01 -9.27961995e-03 1.07329664e-02 1.14690537e+02] [ 9.28567215e-03 9.99956755e-01 -5.14192341e-04 -1.46479731e+00] [-1.07277308e-02 6.13803391e-04 9.99942268e-01 -2.49580973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20439141799999 meters 0.03518201849120069 Centerline is valid? [True, True] Translation: X:114.75, Y:-1.46, Z:-2.49 [[ 9.99919235e-01 -4.06987055e-03 1.20398942e-02 1.14751805e+02] [ 4.07710956e-03 9.99991522e-01 -5.76768237e-04 -1.45791311e+00] [-1.20374447e-02 6.25809622e-04 9.99927352e-01 -2.49448537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26439141799997 meters 0.027225276835009776 Centerline is valid? [True, True] Translation: X:114.81, Y:-1.44, Z:-2.49 [[ 9.99872555e-01 6.94570612e-03 1.43746454e-02 1.14813764e+02] [-6.93652368e-03 9.99975705e-01 -6.88553470e-04 -1.44217183e+00] [-1.43790786e-02 5.88755650e-04 9.99896442e-01 -2.49180596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32439141799998 meters 0.02377444465844466 Centerline is valid? [True, True] Translation: X:114.88, Y:-1.44, Z:-2.49 [[ 9.99785839e-01 1.40655349e-02 1.51801664e-02 1.14875315e+02] [-1.40561085e-02 9.99900943e-01 -7.27485268e-04 -1.43734644e+00] [-1.51888952e-02 5.13955403e-04 9.99884510e-01 -2.49291605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38439141799998 meters 0.021280103847878363 Centerline is valid? [True, True] Translation: X:114.93, Y:-1.43, Z:-2.50 [[ 9.99616553e-01 2.35564568e-02 1.45547157e-02 1.14934886e+02] [-2.35487898e-02 9.99722445e-01 -6.97954983e-04 -1.43421047e+00] [-1.45671174e-02 3.54941412e-04 9.99893831e-01 -2.49723308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44439141799998 meters 0.016205437993044636 Centerline is valid? [True, True] Translation: X:115.00, Y:-1.42, Z:-2.50 [[ 9.99372749e-01 3.29856751e-02 1.28861499e-02 1.14995612e+02] [-3.29804481e-02 9.99455806e-01 -6.17978421e-04 -1.42429122e+00] [-1.28995218e-02 1.92599795e-04 9.99916779e-01 -2.49859678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50439141799998 meters 0.015240677429016927 Centerline is valid? [True, True] Translation: X:115.05, Y:-1.42, Z:-2.50 [[ 9.99266572e-01 3.61482044e-02 1.26343260e-02 1.15054367e+02] [-3.61434283e-02 9.99346429e-01 -6.06225698e-04 -1.42349399e+00] [-1.26479825e-02 1.49133220e-04 9.99920000e-01 -2.49987193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56439141799999 meters 0.013881369226213214 Centerline is valid? [True, True] Translation: X:115.11, Y:-1.42, Z:-2.50 [[ 9.98886865e-01 4.54800446e-02 1.25138269e-02 1.15112259e+02] [-4.54761013e-02 9.98965247e-01 -5.99630201e-04 -1.41893108e+00] [-1.25281493e-02 2.98826740e-05 9.99921519e-01 -2.50149118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62439141799997 meters 0.014073934081965878 Centerline is valid? [True, True] Translation: X:115.17, Y:-1.42, Z:-2.50 [[ 9.98662295e-01 5.00606397e-02 1.29442473e-02 1.15169868e+02] [-5.00568206e-02 9.98746180e-01 -6.19068168e-04 -1.41777954e+00] [-1.29590085e-02 -2.97078266e-05 9.99916028e-01 -2.50218130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68439141799998 meters 0.014421557119282225 Centerline is valid? [True, True] Translation: X:115.23, Y:-1.42, Z:-2.50 [[ 9.98417254e-01 5.42831526e-02 1.47080412e-02 1.15228233e+02] [-5.42787123e-02 9.98525578e-01 -7.01212382e-04 -1.41782881e+00] [-1.47244194e-02 -9.82309973e-05 9.99891585e-01 -2.50242072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74439141799998 meters 0.014292501167021448 Centerline is valid? [True, True] Translation: X:115.29, Y:-1.42, Z:-2.50 [[ 9.98358595e-01 5.53399575e-02 1.47514431e-02 1.15287328e+02] [-5.53356288e-02 9.98467564e-01 -7.01756282e-04 -1.42207964e+00] [-1.47676726e-02 -1.15675963e-04 9.99890945e-01 -2.50306367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80439141799998 meters 0.01436773217728647 Centerline is valid? [True, True] Translation: X:115.35, Y:-1.43, Z:-2.50 [[ 9.98472810e-01 5.33967510e-02 1.41716465e-02 1.15345604e+02] [-5.33925751e-02 9.98573372e-01 -6.73122538e-04 -1.42925638e+00] [-1.41873714e-02 -8.45661475e-05 9.99899351e-01 -2.50490094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86439141799998 meters 0.01408174635159496 Centerline is valid? [True, True] Translation: X:115.40, Y:-1.44, Z:-2.51 [[ 9.98783577e-01 4.74043454e-02 1.35717901e-02 1.15403127e+02] [-4.73999703e-02 9.98875782e-01 -6.44033041e-04 -1.44034546e+00] [-1.35870624e-02 -5.28241328e-08 9.99907692e-01 -2.50799544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92439141799998 meters 0.014525530056075982 Centerline is valid? [True, True] Translation: X:115.46, Y:-1.45, Z:-2.51 [[ 9.99020607e-01 4.22592443e-02 1.31142202e-02 1.15461356e+02] [-4.22547447e-02 9.99106677e-01 -6.20123349e-04 -1.45245692e+00] [-1.31287109e-02 6.53779778e-05 9.99913813e-01 -2.51069404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98439141799997 meters 0.0158536806446116 Centerline is valid? [True, True] Translation: X:115.52, Y:-1.47, Z:-2.51 [[ 9.99235969e-01 3.64212085e-02 1.41765474e-02 1.15518866e+02] [-3.64153771e-02 9.99336516e-01 -6.69341699e-04 -1.46727035e+00] [-1.41915197e-02 1.52585982e-04 9.99899284e-01 -2.51193827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04439141799998 meters 0.014679582331087102 Centerline is valid? [True, True] Translation: X:115.58, Y:-1.47, Z:-2.51 [[ 9.99177846e-01 3.77016009e-02 1.49070610e-02 1.15577357e+02] [-3.76953175e-02 9.99289032e-01 -7.02356632e-04 -1.47171172e+00] [-1.49229425e-02 1.39852789e-04 9.99888637e-01 -2.51124197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10439141799998 meters 0.01439700768605965 Centerline is valid? [True, True] Translation: X:115.64, Y:-1.47, Z:-2.51 [[ 9.99029722e-01 4.14908420e-02 1.47690109e-02 1.15636319e+02] [-4.14851061e-02 9.99138881e-01 -6.94662907e-04 -1.47481749e+00] [-1.47851151e-02 8.12949091e-05 9.99890691e-01 -2.51311371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16439141799998 meters 0.014093456295234135 Centerline is valid? [True, True] Translation: X:115.69, Y:-1.48, Z:-2.51 [[ 9.98756549e-01 4.76632637e-02 1.46140057e-02 1.15693720e+02] [-4.76583229e-02 9.98863461e-01 -6.86358992e-04 -1.47809400e+00] [-1.46301104e-02 -1.09734626e-05 9.99892974e-01 -2.51491534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22439141799998 meters 0.014087921637853109 Centerline is valid? [True, True] Translation: X:115.75, Y:-1.48, Z:-2.52 [[ 9.98665341e-01 4.96395611e-02 1.42636188e-02 1.15752187e+02] [-4.96350776e-02 9.98767196e-01 -6.68388768e-04 -1.48320951e+00] [-1.42792130e-02 -4.04791270e-05 9.99898046e-01 -2.51679373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28439141799998 meters 0.014170486973178081 Centerline is valid? [True, True] Translation: X:115.81, Y:-1.49, Z:-2.52 [[ 9.98714835e-01 4.88805194e-02 1.33930020e-02 1.15809182e+02] [-4.88765087e-02 9.98804633e-01 -6.26817439e-04 -1.49304038e+00] [-1.34076316e-02 -2.85913027e-05 9.99910113e-01 -2.52034263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34439141799999 meters 0.014107429376506194 Centerline is valid? [True, True] Translation: X:115.87, Y:-1.51, Z:-2.52 [[ 9.98947521e-01 4.38434699e-02 1.34758881e-02 1.15867328e+02] [-4.38389698e-02 9.99038412e-01 -6.29295798e-04 -1.50618161e+00] [-1.34905204e-02 3.78644253e-05 9.99908998e-01 -2.52166867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40439141799997 meters 0.014552214531505606 Centerline is valid? [True, True] Translation: X:115.93, Y:-1.52, Z:-2.52 [[ 9.99144177e-01 3.90901874e-02 1.35229946e-02 1.15926006e+02] [-3.90852353e-02 9.99235681e-01 -6.30392137e-04 -1.51624743e+00] [-1.35373009e-02 1.01303207e-04 9.99908361e-01 -2.52294606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46439141799998 meters 0.016759379102878832 Centerline is valid? [True, True] Translation: X:115.98, Y:-1.53, Z:-2.52 [[ 9.99450345e-01 2.99529698e-02 1.42066288e-02 1.15984818e+02] [-2.99466028e-02 9.99551282e-01 -6.60733434e-04 -1.53171309e+00] [-1.42200449e-02 2.34929988e-04 9.99898862e-01 -2.52277548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52439141799998 meters 0.021197290634811437 Centerline is valid? [True, True] Translation: X:116.04, Y:-1.55, Z:-2.52 [[ 9.99674649e-01 1.96554214e-02 1.62560643e-02 1.16043889e+02] [-1.96457400e-02 9.99806719e-01 -7.55048791e-04 -1.54955591e+00] [-1.62677631e-02 4.35440723e-04 9.99867576e-01 -2.52227222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58439141799998 meters 0.02202038217599896 Centerline is valid? [True, True] Translation: X:116.10, Y:-1.56, Z:-2.52 [[ 9.99741912e-01 1.43227616e-02 1.76342974e-02 1.16104693e+02] [-1.43105415e-02 9.99897264e-01 -8.18973430e-04 -1.55729087e+00] [-1.76442157e-02 5.66405718e-04 9.99844168e-01 -2.52266457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64439141799998 meters 0.02564732660525967 Centerline is valid? [True, True] Translation: X:116.16, Y:-1.57, Z:-2.53 [[ 9.99810878e-01 9.04395069e-03 1.72166851e-02 1.16163835e+02] [-9.03152096e-03 9.99958895e-01 -7.99575393e-04 -1.57010827e+00] [-1.72232087e-02 6.43931324e-04 9.99851462e-01 -2.52574604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70439141799999 meters 0.026931021572641937 Centerline is valid? [True, True] Translation: X:116.23, Y:-1.58, Z:-2.53 [[ 9.99831730e-01 7.42904332e-03 1.67726205e-02 1.16225833e+02] [-7.41701094e-03 9.99972190e-01 -7.79475014e-04 -1.57691033e+00] [-1.67779448e-02 6.54941142e-04 9.99859026e-01 -2.52707391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76439141799997 meters 0.027276167770220107 Centerline is valid? [True, True] Translation: X:116.29, Y:-1.58, Z:-2.53 [[ 9.99825246e-01 8.01286170e-03 1.68899569e-02 1.16288223e+02] [-8.00066280e-03 9.99967682e-01 -7.89705151e-04 -1.58114617e+00] [-1.68957388e-02 6.54436298e-04 9.99857043e-01 -2.52776372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82439141799998 meters 0.025260366877733524 Centerline is valid? [True, True] Translation: X:116.35, Y:-1.58, Z:-2.53 [[ 9.99829727e-01 9.28010878e-03 1.59498403e-02 1.16350302e+02] [-9.26932735e-03 9.99956758e-01 -7.49753907e-04 -1.58110545e+00] [-1.59561084e-02 6.01781953e-04 9.99872512e-01 -2.52971359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88439141799998 meters 0.025101873311029217 Centerline is valid? [True, True] Translation: X:116.41, Y:-1.58, Z:-2.53 [[ 9.99835443e-01 1.04543420e-02 1.48254539e-02 1.16412034e+02] [-1.04450994e-02 9.99945203e-01 -7.00718111e-04 -1.58477524e+00] [-1.48319670e-02 5.45749462e-04 9.99889851e-01 -2.53319218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94439141799998 meters 0.024441798007436663 Centerline is valid? [True, True] Translation: X:116.47, Y:-1.59, Z:-2.54 [[ 9.99819751e-01 1.28883941e-02 1.39411124e-02 1.16474594e+02] [-1.28804072e-02 9.99916825e-01 -6.62535977e-04 -1.58613438e+00] [-1.39484919e-02 4.82849350e-04 9.99902598e-01 -2.53518236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00439141799998 meters 0.02217165886586644 Centerline is valid? [True, True] Translation: X:116.54, Y:-1.58, Z:-2.54 [[ 9.99781007e-01 1.58838273e-02 1.36250354e-02 1.16537371e+02] [-1.58764272e-02 9.99873750e-01 -6.51122739e-04 -1.58361376e+00] [-1.36336576e-02 4.34663265e-04 9.99906963e-01 -2.53529711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06439141799999 meters 0.02184901311368088 Centerline is valid? [True, True] Translation: X:116.60, Y:-1.58, Z:-2.53 [[ 9.99667660e-01 2.08453198e-02 1.51671200e-02 1.16598128e+02] [-2.08366168e-02 9.99782626e-01 -7.31625177e-04 -1.58399459e+00] [-1.51790740e-02 4.15350561e-04 9.99884705e-01 -2.53489471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12439141799997 meters 0.01956137311711819 Centerline is valid? [True, True] Translation: X:116.66, Y:-1.58, Z:-2.53 [[ 9.99595507e-01 2.32380809e-02 1.63955182e-02 1.16660229e+02] [-2.32282428e-02 9.99729876e-01 -7.90250324e-04 -1.58255535e+00] [-1.64094532e-02 4.09091597e-04 9.99865272e-01 -2.53401281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18439141799998 meters 0.019118278955624467 Centerline is valid? [True, True] Translation: X:116.72, Y:-1.58, Z:-2.54 [[ 9.99560192e-01 2.44667655e-02 1.67570803e-02 1.16722419e+02] [-2.44565790e-02 9.99700563e-01 -8.12579095e-04 -1.58399767e+00] [-1.67719438e-02 4.02400859e-04 9.99859260e-01 -2.53527848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24439141799998 meters 0.018616229888834646 Centerline is valid? [True, True] Translation: X:116.78, Y:-1.59, Z:-2.54 [[ 9.99537152e-01 2.57498556e-02 1.61995677e-02 1.16784991e+02] [-2.57404325e-02 9.99668348e-01 -7.89958184e-04 -1.58635680e+00] [-1.62145364e-02 3.72608676e-04 9.99868466e-01 -2.53772689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30439141799998 meters 0.017497835381825616 Centerline is valid? [True, True] Translation: X:116.85, Y:-1.59, Z:-2.54 [[ 9.99452808e-01 2.94988450e-02 1.49634068e-02 1.16846628e+02] [-2.94911424e-02 9.99564771e-01 -7.35209055e-04 -1.58679148e+00] [-1.49785822e-02 2.93518792e-04 9.99887772e-01 -2.54010486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36439141799998 meters 0.01604980917908936 Centerline is valid? [True, True] Translation: X:116.91, Y:-1.59, Z:-2.54 [[ 9.99299536e-01 3.39440990e-02 1.57554987e-02 1.16906532e+02] [-3.39360926e-02 9.99423704e-01 -7.75322834e-04 -1.58582648e+00] [-1.57727365e-02 2.40099686e-04 9.99875574e-01 -2.53964709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42439141799998 meters 0.015832695964337923 Centerline is valid? [True, True] Translation: X:116.97, Y:-1.59, Z:-2.54 [[ 9.99251709e-01 3.50238231e-02 1.64120254e-02 1.16966221e+02] [-3.50152926e-02 9.99386451e-01 -8.06927723e-04 -1.58830870e+00] [-1.64302175e-02 2.31652036e-04 9.99864988e-01 -2.54052195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48439141799997 meters 0.015374794163694855 Centerline is valid? [True, True] Translation: X:117.03, Y:-1.59, Z:-2.54 [[ 9.99217975e-01 3.64818388e-02 1.52483766e-02 1.17025893e+02] [-3.64746533e-02 9.99334298e-01 -7.49166654e-04 -1.59241975e+00] [-1.52655567e-02 1.92401536e-04 9.99883456e-01 -2.54393077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54439141799998 meters 0.01597287566729911 Centerline is valid? [True, True] Translation: X:117.08, Y:-1.60, Z:-2.55 [[ 9.99253790e-01 3.57901840e-02 1.45233014e-02 1.17084327e+02] [-3.57835985e-02 9.99359308e-01 -7.13137422e-04 -1.59692428e+00] [-1.45395198e-02 1.92909286e-04 9.99894277e-01 -2.54682538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60439141799998 meters 0.01681386290819942 Centerline is valid? [True, True] Translation: X:117.14, Y:-1.60, Z:-2.55 [[ 9.99439344e-01 3.10429186e-02 1.25433432e-02 1.17143398e+02] [-3.10376420e-02 9.99518027e-01 -6.15159928e-04 -1.60376946e+00] [-1.25563940e-02 2.25499239e-04 9.99921140e-01 -2.54948819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66439141799998 meters 0.020073578524970617 Centerline is valid? [True, True] Translation: X:117.20, Y:-1.62, Z:-2.55 [[ 9.99663675e-01 2.29981018e-02 1.19842942e-02 1.17201771e+02] [-2.29927126e-02 9.99735460e-01 -5.87288298e-04 -1.61506150e+00] [-1.19946304e-02 3.11539344e-04 9.99928013e-01 -2.55113894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72439141799998 meters 0.02318175092762436 Centerline is valid? [True, True] Translation: X:117.26, Y:-1.62, Z:-2.55 [[ 9.99784668e-01 1.73890798e-02 1.13242374e-02 1.17262582e+02] [-1.73839203e-02 9.99848735e-01 -5.53897481e-04 -1.62258255e+00] [-1.13321562e-02 3.56918569e-04 9.99935725e-01 -2.55280067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78439141799998 meters 0.02690230732433157 Centerline is valid? [True, True] Translation: X:117.32, Y:-1.63, Z:-2.55 [[ 9.99873597e-01 1.08399238e-02 1.16312781e-02 1.17322883e+02] [-1.08340352e-02 9.99941148e-01 -5.69158751e-04 -1.63002586e+00] [-1.16367632e-02 4.43073131e-04 9.99932192e-01 -2.55345487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84439141799997 meters 0.030663407001765466 Centerline is valid? [True, True] Translation: X:117.38, Y:-1.64, Z:-2.56 [[ 9.99897397e-01 6.05237370e-03 1.29831995e-02 1.17383098e+02] [-6.04462972e-03 9.99981529e-01 -6.35619764e-04 -1.63795754e+00] [-1.29868067e-02 5.57075914e-04 9.99915513e-01 -2.55536255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90439141799997 meters 0.029525547248151426 Centerline is valid? [True, True] Translation: X:117.45, Y:-1.64, Z:-2.56 [[ 9.99892627e-01 6.12576349e-03 1.33119989e-02 1.17446005e+02] [-6.11765951e-03 9.99981076e-01 -6.49408673e-04 -1.63839726e+00] [-1.33157251e-02 5.67900668e-04 9.99911181e-01 -2.55588437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96439141799998 meters 0.03186923962631359 Centerline is valid? [True, True] Translation: X:117.51, Y:-1.64, Z:-2.56 [[ 9.99891813e-01 6.44082758e-03 1.32241477e-02 1.17508287e+02] [-6.43280038e-03 9.99979098e-01 -6.49456899e-04 -1.64179364e+00] [-1.32280543e-02 5.64318334e-04 9.99912346e-01 -2.55753730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02439141799998 meters 0.0317045911272078 Centerline is valid? [True, True] Translation: X:117.57, Y:-1.64, Z:-2.56 [[ 9.99867850e-01 8.68139835e-03 1.37446584e-02 1.17569661e+02] [-8.67287406e-03 9.99962159e-01 -6.79674428e-04 -1.64137095e+00] [-1.37500388e-02 5.60378918e-04 9.99905307e-01 -2.55836915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08439141799998 meters 0.02592501522449672 Centerline is valid? [True, True] Translation: X:117.63, Y:-1.63, Z:-2.56 [[ 9.99845026e-01 1.07223178e-02 1.39626718e-02 1.17632795e+02] [-1.07136560e-02 9.99942366e-01 -6.95007918e-04 -1.63417667e+00] [-1.39693192e-02 5.45308946e-04 9.99902276e-01 -2.55813379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14439141799998 meters 0.024785537848286486 Centerline is valid? [True, True] Translation: X:117.69, Y:-1.63, Z:-2.56 [[ 9.99832560e-01 1.41450683e-02 1.16089800e-02 1.17694104e+02] [-1.41392943e-02 9.99899867e-01 -5.79294169e-04 -1.62943685e+00] [-1.16160117e-02 4.15054387e-04 9.99932446e-01 -2.56103053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20439141799999 meters 0.022528078001681762 Centerline is valid? [True, True] Translation: X:117.76, Y:-1.62, Z:-2.56 [[ 9.99792758e-01 1.79795446e-02 9.54869508e-03 1.17755667e+02] [-1.79758109e-02 9.99838308e-01 -4.76706796e-04 -1.62470294e+00] [-9.55572211e-03 3.04962465e-04 9.99954297e-01 -2.56438880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26439141799997 meters 0.021276835351563293 Centerline is valid? [True, True] Translation: X:117.82, Y:-1.62, Z:-2.56 [[ 9.99725606e-01 2.12348093e-02 9.88917518e-03 1.17816147e+02] [-2.12309543e-02 9.99774476e-01 -4.94640985e-04 -1.62122146e+00] [-9.89744854e-03 2.84548632e-04 9.99950979e-01 -2.56454629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32439141799998 meters 0.020350848562416552 Centerline is valid? [True, True] Translation: X:117.88, Y:-1.62, Z:-2.56 [[ 9.99639949e-01 2.44335634e-02 1.10892904e-02 1.17875969e+02] [-2.44289078e-02 9.99701416e-01 -5.55104873e-04 -1.61641480e+00] [-1.10995426e-02 2.84005753e-04 9.99938358e-01 -2.56276443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38439141799998 meters 0.0198655865374043 Centerline is valid? [True, True] Translation: X:117.94, Y:-1.62, Z:-2.56 [[ 9.99585717e-01 2.62567670e-02 1.17888616e-02 1.17935874e+02] [-2.62516385e-02 9.99655192e-01 -5.89595021e-04 -1.61634753e+00] [-1.18002776e-02 2.79873830e-04 9.99930335e-01 -2.56354251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44439141799998 meters 0.01984522673084723 Centerline is valid? [True, True] Translation: X:117.99, Y:-1.62, Z:-2.56 [[ 9.99555273e-01 2.72480931e-02 1.21160469e-02 1.17994711e+02] [-2.72427526e-02 9.99628664e-01 -6.05640689e-04 -1.61767143e+00] [-1.21280503e-02 2.75296876e-04 9.99926415e-01 -2.56472638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50439141799998 meters 0.02030941161654623 Centerline is valid? [True, True] Translation: X:118.05, Y:-1.62, Z:-2.57 [[ 9.99585848e-01 2.66731152e-02 1.08016901e-02 1.18054199e+02] [-2.66688447e-02 9.99644178e-01 -5.39223724e-04 -1.61911026e+00] [-1.08122294e-02 2.50931807e-04 9.99941515e-01 -2.56620899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56439141799999 meters 0.02127174749882453 Centerline is valid? [True, True] Translation: X:118.11, Y:-1.62, Z:-2.57 [[ 9.99641355e-01 2.49745029e-02 9.66622710e-03 1.18113808e+02] [-2.49710065e-02 9.99688059e-01 -4.82252511e-04 -1.62299382e+00] [-9.67525583e-03 2.40704133e-04 9.99953165e-01 -2.56848634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62439141799997 meters 0.021394375226266596 Centerline is valid? [True, True] Translation: X:118.17, Y:-1.62, Z:-2.57 [[ 9.99607532e-01 2.65091906e-02 9.05782418e-03 1.18172141e+02] [-2.65061840e-02 9.99648547e-01 -4.51842678e-04 -1.62463529e+00] [-9.06661877e-03 2.11576990e-04 9.99958875e-01 -2.57053779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68439141799998 meters 0.01997183342921088 Centerline is valid? [True, True] Translation: X:118.23, Y:-1.62, Z:-2.57 [[ 9.99521573e-01 2.95858936e-02 9.01661560e-03 1.18230840e+02] [-2.95830418e-02 9.99562225e-01 -4.49513569e-04 -1.62324923e+00] [-9.02596761e-03 1.82559593e-04 9.99959248e-01 -2.57152420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74439141799998 meters 0.01774818737884995 Centerline is valid? [True, True] Translation: X:118.29, Y:-1.62, Z:-2.57 [[ 9.99342840e-01 3.50237475e-02 9.33948767e-03 1.18289372e+02] [-3.50209322e-02 9.99386471e-01 -4.64860585e-04 -1.62042999e+00] [-9.35003878e-03 1.37477532e-04 9.99956278e-01 -2.57347562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80439141799998 meters 0.015471723289194066 Centerline is valid? [True, True] Translation: X:118.35, Y:-1.62, Z:-2.57 [[ 9.99272538e-01 3.68672490e-02 9.75708150e-03 1.18348471e+02] [-3.68642704e-02 9.99320164e-01 -4.85011828e-04 -1.61876566e+00] [-9.76832934e-03 1.24971309e-04 9.99952281e-01 -2.57173126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86439141799998 meters 0.016177784210108972 Centerline is valid? [True, True] Translation: X:118.41, Y:-1.62, Z:-2.57 [[ 9.99322369e-01 3.55469593e-02 9.55068796e-03 1.18405992e+02] [-3.55440500e-02 9.99367998e-01 -4.74242520e-04 -1.62371051e+00] [-9.56150979e-03 1.34451029e-04 9.99954279e-01 -2.57347045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92439141799998 meters 0.017357454765951904 Centerline is valid? [True, True] Translation: X:118.46, Y:-1.63, Z:-2.57 [[ 9.99483437e-01 3.07798636e-02 9.24436997e-03 1.18464842e+02] [-3.07769443e-02 9.99526173e-01 -4.57922225e-04 -1.63021035e+00] [-9.25408452e-03 1.73172221e-04 9.99957165e-01 -2.57398738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98439141799997 meters 0.019308930907642644 Centerline is valid? [True, True] Translation: X:118.52, Y:-1.64, Z:-2.58 [[ 9.99614317e-01 2.60028998e-02 9.75023854e-03 1.18524113e+02] [-2.59994386e-02 9.99661841e-01 -4.81597782e-04 -1.63795018e+00] [-9.75946435e-03 2.27911310e-04 9.99952349e-01 -2.57527021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04439141799998 meters 0.023113519895778797 Centerline is valid? [True, True] Translation: X:118.58, Y:-1.65, Z:-2.58 [[ 9.99785729e-01 1.85543336e-02 9.17782072e-03 1.18584131e+02] [-1.85509608e-02 9.99827814e-01 -4.52497797e-04 -1.64838437e+00] [-9.18463622e-03 2.82143447e-04 9.99957781e-01 -2.57836202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10439141799998 meters 0.025177275458343456 Centerline is valid? [True, True] Translation: X:118.64, Y:-1.65, Z:-2.58 [[ 9.99847895e-01 1.45620224e-02 9.59867731e-03 1.18644152e+02] [-1.45581494e-02 9.99893913e-01 -4.73247459e-04 -1.65448412e+00] [-9.60455045e-03 3.33436497e-04 9.99953820e-01 -2.57953609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16439141799998 meters 0.026389433342938282 Centerline is valid? [True, True] Translation: X:118.71, Y:-1.66, Z:-2.58 [[ 9.99881318e-01 1.07064062e-02 1.10780456e-02 1.18705204e+02] [-1.07010158e-02 9.99942594e-01 -5.45749016e-04 -1.65856421e+00] [-1.10832527e-02 4.27137904e-04 9.99938488e-01 -2.57935387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22439141799998 meters 0.02675525244430428 Centerline is valid? [True, True] Translation: X:118.77, Y:-1.66, Z:-2.58 [[ 9.99863219e-01 1.15040446e-02 1.18827514e-02 1.18767249e+02] [-1.14979209e-02 9.99933726e-01 -5.83536252e-04 -1.66013667e+00] [-1.18886769e-02 4.46829500e-04 9.99929227e-01 -2.57996674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28439141799998 meters 0.025601468982295247 Centerline is valid? [True, True] Translation: X:118.83, Y:-1.66, Z:-2.58 [[ 9.99809328e-01 1.49238853e-02 1.25931009e-02 1.18828750e+02] [-1.49172019e-02 9.99888537e-01 -6.24490686e-04 -1.65865061e+00] [-1.26010170e-02 4.36517784e-04 9.99920509e-01 -2.58022317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34439141799997 meters 0.023269971746685884 Centerline is valid? [True, True] Translation: X:118.89, Y:-1.66, Z:-2.58 [[ 9.99714070e-01 1.96924647e-02 1.35641418e-02 1.18890260e+02] [-1.96851410e-02 9.99806002e-01 -6.73243376e-04 -1.65614302e+00] [-1.35747682e-02 4.06038830e-04 9.99907776e-01 -2.58072895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40439141799997 meters 0.01836351443955647 Centerline is valid? [True, True] Translation: X:118.95, Y:-1.65, Z:-2.58 [[ 9.99487998e-01 2.86938375e-02 1.41564852e-02 1.18951308e+02] [-2.86867518e-02 9.99588203e-01 -7.03379881e-04 -1.64831316e+00] [-1.41708383e-02 2.96916172e-04 9.99899545e-01 -2.58188188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46439141799998 meters 0.016515848010464105 Centerline is valid? [True, True] Translation: X:119.01, Y:-1.64, Z:-2.58 [[ 9.99326700e-01 3.39673352e-02 1.38696654e-02 1.19010679e+02] [-3.39610286e-02 9.99422920e-01 -6.90047864e-04 -1.64458960e+00] [-1.38851006e-02 2.18555151e-04 9.99903573e-01 -2.58434708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52439141799998 meters 0.015542016728660627 Centerline is valid? [True, True] Translation: X:119.07, Y:-1.64, Z:-2.59 [[ 9.99159963e-01 3.88737269e-02 1.29692519e-02 1.19068386e+02] [-3.88686302e-02 9.99244121e-01 -6.44903283e-04 -1.64033672e+00] [-1.29845185e-02 1.40264484e-04 9.99915688e-01 -2.58711421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58439141799998 meters 0.015542424204907881 Centerline is valid? [True, True] Translation: X:119.13, Y:-1.64, Z:-2.59 [[ 9.99141466e-01 3.94078957e-02 1.27807599e-02 1.19125756e+02] [-3.94030046e-02 9.99223199e-01 -6.34379896e-04 -1.64051018e+00] [-1.27958313e-02 1.30234920e-04 9.99918122e-01 -2.58852084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64439141799998 meters 0.015459210103649043 Centerline is valid? [True, True] Translation: X:119.18, Y:-1.64, Z:-2.59 [[ 9.99176909e-01 3.81745253e-02 1.37189380e-02 1.19184872e+02] [-3.81687982e-02 9.99271075e-01 -6.79137628e-04 -1.64104356e+00] [-1.37348637e-02 1.54943260e-04 9.99905660e-01 -2.58797398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70439141799999 meters 0.015710334118893544 Centerline is valid? [True, True] Translation: X:119.24, Y:-1.64, Z:-2.59 [[ 9.99205861e-01 3.71367270e-02 1.44398974e-02 1.19242733e+02] [-3.71302903e-02 9.99310178e-01 -7.13688043e-04 -1.64331354e+00] [-1.44564405e-02 1.76963694e-04 9.99895485e-01 -2.58835137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76439141799997 meters 0.015864126473819216 Centerline is valid? [True, True] Translation: X:119.30, Y:-1.65, Z:-2.59 [[ 9.99246003e-01 3.55232435e-02 1.56692392e-02 1.19301741e+02] [-3.55154953e-02 9.99368827e-01 -7.72558701e-04 -1.64652184e+00] [-1.56867930e-02 2.15475401e-04 9.99876931e-01 -2.58926208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82439141799998 meters 0.01685581610264755 Centerline is valid? [True, True] Translation: X:119.36, Y:-1.65, Z:-2.59 [[ 9.99347229e-01 3.21996730e-02 1.63797589e-02 1.19360000e+02] [-3.21907831e-02 9.99481417e-01 -8.06171285e-04 -1.65376223e+00] [-1.63972231e-02 2.78367774e-04 9.99865518e-01 -2.59048195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88439141799998 meters 0.01857265621195315 Centerline is valid? [True, True] Translation: X:119.42, Y:-1.66, Z:-2.59 [[ 9.99497580e-01 2.66908375e-02 1.70934808e-02 1.19419250e+02] [-2.66803788e-02 9.99643663e-01 -8.39648022e-04 -1.66225517e+00] [-1.71098006e-02 3.83165625e-04 9.99853543e-01 -2.59033839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94439141799998 meters 0.019763226193046567 Centerline is valid? [True, True] Translation: X:119.48, Y:-1.67, Z:-2.59 [[ 9.99575652e-01 2.40389814e-02 1.64512596e-02 1.19478989e+02] [-2.40289473e-02 9.99710937e-01 -8.07352395e-04 -1.66924181e+00] [-1.64659121e-02 4.11703347e-04 9.99864343e-01 -2.59224951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00439141799998 meters 0.01998967206042845 Centerline is valid? [True, True] Translation: X:119.54, Y:-1.67, Z:-2.59 [[ 9.99599264e-01 2.35982503e-02 1.56343740e-02 1.19539596e+02] [-2.35891408e-02 9.99721443e-01 -7.66842772e-04 -1.67495316e+00] [-1.56481151e-02 3.97734020e-04 9.99877482e-01 -2.59486057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06439141799999 meters 0.019248236540845995 Centerline is valid? [True, True] Translation: X:119.60, Y:-1.68, Z:-2.60 [[ 9.99549042e-01 2.58276780e-02 1.53180986e-02 1.19600485e+02] [-2.58191970e-02 9.99666347e-01 -7.51196161e-04 -1.67824473e+00] [-1.53323893e-02 3.55356397e-04 9.99882389e-01 -2.59690138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12439141799997 meters 0.01700186266728254 Centerline is valid? [True, True] Translation: X:119.66, Y:-1.68, Z:-2.60 [[ 9.99382465e-01 3.18617673e-02 1.48160545e-02 1.19660203e+02] [-3.18544853e-02 9.99492253e-01 -7.27290358e-04 -1.67757870e+00] [-1.48317044e-02 2.54883441e-04 9.99889972e-01 -2.59822993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18439141799998 meters 0.015125342925250453 Centerline is valid? [True, True] Translation: X:119.72, Y:-1.68, Z:-2.60 [[ 9.99118628e-01 3.89772150e-02 1.55802445e-02 1.19718878e+02] [-3.89700335e-02 9.99240087e-01 -7.64388434e-04 -1.67591585e+00] [-1.55981986e-02 1.56552074e-04 9.99878328e-01 -2.59827057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24439141799998 meters 0.01441375015701454 Centerline is valid? [True, True] Translation: X:119.78, Y:-1.68, Z:-2.60 [[ 9.98933661e-01 4.30730159e-02 1.66209832e-02 1.19777981e+02] [-4.30654335e-02 9.99071922e-01 -8.14008203e-04 -1.67693046e+00] [-1.66406195e-02 9.73503453e-05 9.99861531e-01 -2.59846162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30439141799998 meters 0.01432373175869345 Centerline is valid? [True, True] Translation: X:119.84, Y:-1.68, Z:-2.60 [[ 9.98928320e-01 4.31431332e-02 1.67594997e-02 1.19836853e+02] [-4.31354569e-02 9.99068897e-01 -8.19412264e-04 -1.68164318e+00] [-1.67792469e-02 9.56054405e-05 9.99859214e-01 -2.59974352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36439141799998 meters 0.014630920394773565 Centerline is valid? [True, True] Translation: X:119.90, Y:-1.69, Z:-2.60 [[ 9.99069317e-01 3.95305897e-02 1.72578248e-02 1.19895490e+02] [-3.95219359e-02 9.99218348e-01 -8.42342770e-04 -1.69133702e+00] [-1.72776335e-02 1.59496171e-04 9.99850718e-01 -2.60076855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42439141799998 meters 0.015174109936801303 Centerline is valid? [True, True] Translation: X:119.95, Y:-1.70, Z:-2.60 [[ 9.99205230e-01 3.57771313e-02 1.75756823e-02 1.19954358e+02] [-3.57676011e-02 9.99359768e-01 -8.56380797e-04 -1.70027482e+00] [-1.75950686e-02 2.27060177e-04 9.99845169e-01 -2.60185379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48439141799997 meters 0.016968278108305573 Centerline is valid? [True, True] Translation: X:120.01, Y:-1.71, Z:-2.60 [[ 9.99404602e-01 2.96425361e-02 1.76567856e-02 1.20013563e+02] [-2.96319893e-02 9.99560507e-01 -8.58700427e-04 -1.71286950e+00] [-1.76744796e-02 3.34983476e-04 9.99843738e-01 -2.60331201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54439141799998 meters 0.020441354032532985 Centerline is valid? [True, True] Translation: X:120.07, Y:-1.73, Z:-2.61 [[ 9.99532742e-01 2.50095132e-02 1.75733374e-02 1.20073164e+02] [-2.49983675e-02 9.99687128e-01 -8.53656625e-04 -1.72788951e+00] [-1.75891887e-02 4.13953002e-04 9.99845213e-01 -2.60630466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60439141799998 meters 0.019523074197607303 Centerline is valid? [True, True] Translation: X:120.13, Y:-1.73, Z:-2.61 [[ 9.99578246e-01 2.37837881e-02 1.66631742e-02 1.20134318e+02] [-2.37735935e-02 9.99717040e-01 -8.09648671e-04 -1.73416511e+00] [-1.66777157e-02 4.13163669e-04 9.99860832e-01 -2.60879026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66439141799998 meters 0.018615699226848925 Centerline is valid? [True, True] Translation: X:120.20, Y:-1.74, Z:-2.61 [[ 9.99505066e-01 2.68715222e-02 1.63567527e-02 1.20195968e+02] [-2.68621038e-02 9.99638832e-01 -7.95281879e-04 -1.73777684e+00] [-1.63722156e-02 3.55511479e-04 9.99865903e-01 -2.61052222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72439141799998 meters 0.017434508281158737 Centerline is valid? [True, True] Translation: X:120.26, Y:-1.74, Z:-2.61 [[ 9.99395295e-01 3.02202185e-02 1.71983339e-02 1.20256279e+02] [-3.02102771e-02 9.99543214e-01 -8.37609293e-04 -1.74034433e+00] [-1.72157907e-02 3.17536352e-04 9.99851747e-01 -2.61100566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78439141799998 meters 0.0161172150563041 Centerline is valid? [True, True] Translation: X:120.32, Y:-1.74, Z:-2.61 [[ 9.99261946e-01 3.40878776e-02 1.77081593e-02 1.20317090e+02] [-3.40779450e-02 9.99418806e-01 -8.62439284e-04 -1.74191260e+00] [-1.77272662e-02 2.58345078e-04 9.99842826e-01 -2.61199263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84439141799997 meters 0.015343692349520321 Centerline is valid? [True, True] Translation: X:120.38, Y:-1.74, Z:-2.61 [[ 9.99167885e-01 3.69734364e-02 1.72192735e-02 1.20376971e+02] [-3.69644698e-02 9.99316228e-01 -8.38823596e-04 -1.74401420e+00] [-1.72385137e-02 2.01624283e-04 9.99851385e-01 -2.61381113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90439141799997 meters 0.01574104919288829 Centerline is valid? [True, True] Translation: X:120.44, Y:-1.75, Z:-2.62 [[ 9.99243810e-01 3.54114630e-02 1.60572963e-02 1.20435453e+02] [-3.54034718e-02 9.99372795e-01 -7.81743319e-04 -1.75121008e+00] [-1.60749078e-02 2.12668134e-04 9.99870768e-01 -2.61650367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96439141799998 meters 0.01679881426147385 Centerline is valid? [True, True] Translation: X:120.49, Y:-1.76, Z:-2.62 [[ 9.99345357e-01 3.23226117e-02 1.62513463e-02 1.20494806e+02] [-3.23140358e-02 9.99477453e-01 -7.90086659e-04 -1.75938717e+00] [-1.62683918e-02 2.64422850e-04 9.99867626e-01 -2.61803035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02439141799998 meters 0.018296436107054215 Centerline is valid? [True, True] Translation: X:120.55, Y:-1.77, Z:-2.62 [[ 9.99449179e-01 2.85331707e-02 1.69468656e-02 1.20554912e+02] [-2.85233156e-02 9.99592789e-01 -8.23002701e-04 -1.76806041e+00] [-1.69634475e-02 3.39168578e-04 9.99856053e-01 -2.61939079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08439141799998 meters 0.020740377697435242 Centerline is valid? [True, True] Translation: X:120.62, Y:-1.78, Z:-2.62 [[ 9.99557160e-01 2.33900400e-02 1.83953619e-02 1.20616140e+02] [-2.33775600e-02 9.99726308e-01 -8.93207087e-04 -1.77926671e+00] [-1.84112194e-02 4.62772863e-04 9.99830392e-01 -2.61937655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14439141799998 meters 0.02153728201881968 Centerline is valid? [True, True] Translation: X:120.68, Y:-1.79, Z:-2.62 [[ 9.99608384e-01 1.94975671e-02 2.00729663e-02 1.20677618e+02] [-1.94819141e-02 9.99809734e-01 -9.75076274e-04 -1.78620070e+00] [-2.00881587e-02 5.83634613e-04 9.99798042e-01 -2.61998726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20439141799997 meters 0.024151453703653243 Centerline is valid? [True, True] Translation: X:120.74, Y:-1.79, Z:-2.62 [[ 9.99633286e-01 1.82839678e-02 1.99747556e-02 1.20738257e+02] [-1.82681204e-02 9.99832648e-01 -9.75566984e-04 -1.79466454e+00] [-1.99892500e-02 6.10307989e-04 9.99800009e-01 -2.62160249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26439141799997 meters 0.02347460417325205 Centerline is valid? [True, True] Translation: X:120.80, Y:-1.80, Z:-2.62 [[ 9.99654670e-01 1.67255204e-02 2.02681613e-02 1.20799767e+02] [-1.67087717e-02 9.99859903e-01 -9.95429064e-04 -1.79971928e+00] [-2.02819709e-02 6.56429231e-04 9.99794084e-01 -2.62424515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32439141799998 meters 0.024149827356273638 Centerline is valid? [True, True] Translation: X:120.86, Y:-1.80, Z:-2.63 [[ 9.99649359e-01 1.70051128e-02 2.02974329e-02 1.20863029e+02] [-1.69883157e-02 9.99855188e-01 -9.99702211e-04 -1.80468534e+00] [-2.03114936e-02 6.54532477e-04 9.99793486e-01 -2.62580500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38439141799998 meters 0.02295715802698753 Centerline is valid? [True, True] Translation: X:120.93, Y:-1.81, Z:-2.63 [[ 9.99630283e-01 1.83895948e-02 2.00279798e-02 1.20925711e+02] [-1.83733856e-02 9.99830702e-01 -9.93054320e-04 -1.80728939e+00] [-2.00428510e-02 6.24705376e-04 9.99798927e-01 -2.62728692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44439141799998 meters 0.02403283901211829 Centerline is valid? [True, True] Translation: X:120.99, Y:-1.81, Z:-2.63 [[ 9.99600645e-01 1.99023911e-02 2.00610233e-02 1.20987116e+02] [-1.98863985e-02 9.99801750e-01 -9.96397842e-04 -1.81254429e+00] [-2.00768768e-02 5.97058424e-04 9.99798261e-01 -2.62874248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50439141799998 meters 0.02167175548206166 Centerline is valid? [True, True] Translation: X:121.05, Y:-1.81, Z:-2.63 [[ 9.99523698e-01 2.33955538e-02 2.01252270e-02 1.21049213e+02] [-2.33800628e-02 9.99726144e-01 -1.00470951e-03 -1.81179863e+00] [-2.01432213e-02 5.33701890e-04 9.99796962e-01 -2.63011719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56439141799999 meters 0.019759565953432753 Centerline is valid? [True, True] Translation: X:121.11, Y:-1.81, Z:-2.63 [[ 9.99454883e-01 2.67894941e-02 1.92940422e-02 1.21111815e+02] [-2.67757829e-02 9.99640995e-01 -9.68669447e-04 -1.81161964e+00] [-1.93130657e-02 4.51528325e-04 9.99813383e-01 -2.63268476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62439141799997 meters 0.019084516329236738 Centerline is valid? [True, True] Translation: X:121.17, Y:-1.81, Z:-2.63 [[ 9.99370488e-01 2.92656026e-02 2.00537213e-02 1.21174464e+02] [-2.92512540e-02 9.99571582e-01 -1.00852613e-03 -1.81303313e+00] [-2.00746450e-02 4.21294757e-04 9.99798395e-01 -2.63334024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68439141799998 meters 0.018276954342497008 Centerline is valid? [True, True] Translation: X:121.24, Y:-1.81, Z:-2.63 [[ 9.99311077e-01 3.06968232e-02 2.08584908e-02 1.21236383e+02] [-3.06814869e-02 9.99528656e-01 -1.05494843e-03 -1.81412867e+00] [-2.08810429e-02 4.14252142e-04 9.99781881e-01 -2.63347385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74439141799998 meters 0.01823452283644491 Centerline is valid? [True, True] Translation: X:121.30, Y:-1.82, Z:-2.63 [[ 9.99250106e-01 3.21690417e-02 2.15494311e-02 1.21297684e+02] [-3.21528798e-02 9.99482361e-01 -1.09614056e-03 -1.81660144e+00] [-2.15735381e-02 4.02442302e-04 9.99767183e-01 -2.63389455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80439141799998 meters 0.01813760522731578 Centerline is valid? [True, True] Translation: X:121.36, Y:-1.82, Z:-2.64 [[ 9.99255155e-01 3.26406618e-02 2.05845011e-02 1.21359512e+02] [-3.26259125e-02 9.99467080e-01 -1.05203553e-03 -1.81949710e+00] [-2.06078703e-02 3.79663795e-04 9.99787563e-01 -2.63645968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86439141799998 meters 0.018041666075142487 Centerline is valid? [True, True] Translation: X:121.42, Y:-1.82, Z:-2.64 [[ 9.99267799e-01 3.23831748e-02 2.03763650e-02 1.21420773e+02] [-3.23685485e-02 9.99475453e-01 -1.04729365e-03 -1.82153176e+00] [-2.03995914e-02 3.86973464e-04 9.99791832e-01 -2.63894809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92439141799998 meters 0.01833059467541081 Centerline is valid? [True, True] Translation: X:121.48, Y:-1.83, Z:-2.64 [[ 9.99275082e-01 3.18773726e-02 2.08121154e-02 1.21481902e+02] [-3.18619865e-02 9.99491705e-01 -1.07054830e-03 -1.82524503e+00] [-2.08356630e-02 4.06656899e-04 9.99782831e-01 -2.63964798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98439141799997 meters 0.018808856384849915 Centerline is valid? [True, True] Translation: X:121.54, Y:-1.83, Z:-2.64 [[ 9.99209916e-01 3.37005833e-02 2.10669241e-02 1.21543500e+02] [-3.36852097e-02 9.99431904e-01 -1.08428548e-03 -1.82882918e+00] [-2.10914972e-02 3.73785050e-04 9.99777480e-01 -2.64083785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04439141799998 meters 0.016691798883683356 Centerline is valid? [True, True] Translation: X:121.61, Y:-1.83, Z:-2.64 [[ 9.99026803e-01 3.88113294e-02 2.09553870e-02 1.21605230e+02] [-3.87971164e-02 9.99246520e-01 -1.08452601e-03 -1.82757074e+00] [-2.09816895e-02 2.70461962e-04 9.99779824e-01 -2.64137266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10439141799998 meters 0.015486279898510544 Centerline is valid? [True, True] Translation: X:121.67, Y:-1.83, Z:-2.64 [[ 9.98850551e-01 4.32921323e-02 2.05759085e-02 1.21665192e+02] [-4.32793614e-02 9.99062441e-01 -1.06577933e-03 -1.82597078e+00] [-2.06027572e-02 1.74042095e-04 9.99787726e-01 -2.64276493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16439141799998 meters 0.014858440393603529 Centerline is valid? [True, True] Translation: X:121.72, Y:-1.83, Z:-2.65 [[ 9.98686759e-01 4.74013838e-02 1.94387956e-02 1.21724398e+02] [-4.73907780e-02 9.98875919e-01 -1.00614972e-03 -1.82770519e+00] [-1.94646377e-02 8.36087590e-05 9.99810542e-01 -2.64594578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22439141799998 meters 0.014983419666909177 Centerline is valid? [True, True] Translation: X:121.78, Y:-1.83, Z:-2.65 [[ 9.98778903e-01 4.60231479e-02 1.79603115e-02 1.21783099e+02] [-4.60138801e-02 9.98940368e-01 -9.29143307e-04 -1.83361516e+00] [-1.79840423e-02 1.01585113e-04 9.99838269e-01 -2.64872114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28439141799998 meters 0.015229800381163072 Centerline is valid? [True, True] Translation: X:121.84, Y:-1.84, Z:-2.65 [[ 9.98903429e-01 4.33457767e-02 1.76941773e-02 1.21842143e+02] [-4.33363852e-02 9.99060119e-01 -9.14033672e-04 -1.83851896e+00] [-1.77171663e-02 1.46229687e-04 9.99843028e-01 -2.64944415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34439141799997 meters 0.015979773135229854 Centerline is valid? [True, True] Translation: X:121.90, Y:-1.85, Z:-2.65 [[ 9.99081564e-01 3.90271171e-02 1.76893638e-02 1.21900951e+02] [-3.90170809e-02 9.99238127e-01 -9.12255446e-04 -1.84764110e+00] [-1.77114895e-02 2.21230258e-04 9.99843115e-01 -2.65003128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40439141799997 meters 0.016936499945889444 Centerline is valid? [True, True] Translation: X:121.96, Y:-1.85, Z:-2.65 [[ 9.99195135e-01 3.60071409e-02 1.76796091e-02 1.21960491e+02] [-3.59966634e-02 9.99351495e-01 -9.10606897e-04 -1.85478194e+00] [-1.77009321e-02 2.73467046e-04 9.99843289e-01 -2.65162444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46439141799998 meters 0.018526828129644138 Centerline is valid? [True, True] Translation: X:122.02, Y:-1.86, Z:-2.65 [[ 9.99323444e-01 3.17994798e-02 1.84782750e-02 1.22020917e+02] [-3.17873320e-02 9.99494203e-01 -9.50826337e-04 -1.86454758e+00] [-1.84991645e-02 3.62807989e-04 9.99828810e-01 -2.65282530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52439141799998 meters 0.020949671974599723 Centerline is valid? [True, True] Translation: X:122.08, Y:-1.88, Z:-2.65 [[ 9.99454938e-01 2.71800582e-02 1.87369071e-02 1.22082119e+02] [-2.71667721e-02 9.99630451e-01 -9.63305897e-04 -1.87545386e+00] [-1.87561656e-02 4.53759550e-04 9.99823985e-01 -2.65453704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58439141799998 meters 0.0221539819182104 Centerline is valid? [True, True] Translation: X:122.14, Y:-1.88, Z:-2.66 [[ 9.99548314e-01 2.41262625e-02 1.79190347e-02 1.22143410e+02] [-2.41135441e-02 9.99708798e-01 -9.25527914e-04 -1.88314740e+00] [-1.79361462e-02 4.93018431e-04 9.99839013e-01 -2.65624016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64439141799998 meters 0.0230861599675763 Centerline is valid? [True, True] Translation: X:122.21, Y:-1.89, Z:-2.66 [[ 9.99612622e-01 2.11154469e-02 1.81313079e-02 1.22205068e+02] [-2.11018331e-02 9.99776888e-01 -9.41852525e-04 -1.88959320e+00] [-1.81471502e-02 5.58883838e-04 9.99835171e-01 -2.65724689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70439141799997 meters 0.02369260508837776 Centerline is valid? [True, True] Translation: X:122.27, Y:-1.89, Z:-2.66 [[ 9.99599566e-01 2.14088141e-02 1.85032665e-02 1.22268129e+02] [-2.13946735e-02 9.99770645e-01 -9.61858576e-04 -1.89497513e+00] [-1.85196149e-02 5.65602070e-04 9.99828337e-01 -2.65845069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76439141799997 meters 0.02258252054790624 Centerline is valid? [True, True] Translation: X:122.33, Y:-1.90, Z:-2.66 [[ 9.99567626e-01 2.30059456e-02 1.83108711e-02 1.22330384e+02] [-2.29922587e-02 9.99735184e-01 -9.57677411e-04 -1.89596245e+00] [-1.83280544e-02 5.36255051e-04 9.99831883e-01 -2.65994978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82439141799998 meters 0.021139640747734334 Centerline is valid? [True, True] Translation: X:122.39, Y:-1.90, Z:-2.66 [[ 9.99528306e-01 2.55824659e-02 1.69912750e-02 1.22393101e+02] [-2.55709637e-02 9.99672610e-01 -8.93893969e-04 -1.89530444e+00] [-1.70085802e-02 4.58989049e-04 9.99855238e-01 -2.66202512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88439141799998 meters 0.0201188680690542 Centerline is valid? [True, True] Translation: X:122.45, Y:-1.89, Z:-2.66 [[ 9.99469060e-01 2.80066543e-02 1.66500629e-02 1.22454946e+02] [-2.79959147e-02 9.99607652e-01 -8.77797392e-04 -1.89484501e+00] [-1.66681144e-02 4.11197595e-04 9.99860993e-01 -2.66377319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94439141799998 meters 0.02065028496533328 Centerline is valid? [True, True] Translation: X:122.52, Y:-1.90, Z:-2.67 [[ 9.99437382e-01 2.91691163e-02 1.65554042e-02 1.22516068e+02] [-2.91586591e-02 9.99574415e-01 -8.72732505e-04 -1.89752211e+00] [-1.65738153e-02 3.89508104e-04 9.99862569e-01 -2.66519285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00439141799998 meters 0.020454105493366504 Centerline is valid? [True, True] Translation: X:122.58, Y:-1.90, Z:-2.67 [[ 9.99444850e-01 2.93502864e-02 1.57655619e-02 1.22577550e+02] [-2.93407440e-02 9.99569118e-01 -8.36275537e-04 -1.89932787e+00] [-1.57833137e-02 3.73237962e-04 9.99875366e-01 -2.66663384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06439141799999 meters 0.02123456420479663 Centerline is valid? [True, True] Translation: X:122.64, Y:-1.90, Z:-2.67 [[ 9.99463909e-01 2.85950364e-02 1.59442135e-02 1.22638140e+02] [-2.85851684e-02 9.99591002e-01 -8.46510438e-04 -1.90295402e+00] [-1.59618984e-02 3.90288603e-04 9.99872525e-01 -2.66742894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12439141799997 meters 0.021165291836054347 Centerline is valid? [True, True] Translation: X:122.70, Y:-1.90, Z:-2.67 [[ 9.99477300e-01 2.78183447e-02 1.64701482e-02 1.22699227e+02] [-2.78077060e-02 9.99612908e-01 -8.74644688e-04 -1.90418025e+00] [-1.64881039e-02 4.16190474e-04 9.99863975e-01 -2.66810005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18439141799998 meters 0.02157123469748458 Centerline is valid? [True, True] Translation: X:122.76, Y:-1.91, Z:-2.67 [[ 9.99510729e-01 2.62535268e-02 1.70016440e-02 1.22759828e+02] [-2.62419673e-02 9.99655213e-01 -9.02680289e-04 -1.90906810e+00] [-1.70194806e-02 4.56082048e-04 9.99855054e-01 -2.66818355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24439141799998 meters 0.021859366125451543 Centerline is valid? [True, True] Translation: X:122.82, Y:-1.91, Z:-2.67 [[ 9.99573120e-01 2.46358788e-02 1.57051204e-02 1.22822311e+02] [-2.46257724e-02 9.99696390e-01 -8.36605205e-04 -1.91130275e+00] [-1.57209626e-02 4.49497356e-04 9.99876317e-01 -2.67009776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30439141799998 meters 0.02238555729841237 Centerline is valid? [True, True] Translation: X:122.88, Y:-1.91, Z:-2.67 [[ 9.99588070e-01 2.42901987e-02 1.52864921e-02 1.22884300e+02] [-2.42805193e-02 9.99704850e-01 -8.18499906e-04 -1.91362860e+00] [-1.53018618e-02 4.46998774e-04 9.99882820e-01 -2.67150936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36439141799998 meters 0.02231388567426002 Centerline is valid? [True, True] Translation: X:122.95, Y:-1.92, Z:-2.67 [[ 9.99535572e-01 2.62077149e-02 1.55497881e-02 1.22945613e+02] [-2.61978586e-02 9.99656427e-01 -8.37246887e-04 -1.91558457e+00] [-1.55663879e-02 4.29486896e-04 9.99878744e-01 -2.67295097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42439141799998 meters 0.019290948306142267 Centerline is valid? [True, True] Translation: X:123.01, Y:-1.91, Z:-2.67 [[ 9.99348282e-01 3.23446538e-02 1.60260702e-02 1.23007055e+02] [-3.23348813e-02 9.99476714e-01 -8.68594132e-04 -1.91156271e+00] [-1.60457784e-02 3.49826975e-04 9.99871197e-01 -2.67318296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48439141799997 meters 0.016735437031135794 Centerline is valid? [True, True] Translation: X:123.07, Y:-1.91, Z:-2.68 [[ 9.99060878e-01 4.07709979e-02 1.46658578e-02 1.23067086e+02] [-4.07637111e-02 9.99168498e-01 -7.95564973e-04 -1.90705055e+00] [-1.46860991e-02 1.96983050e-04 9.99892134e-01 -2.67512119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54439141799998 meters 0.01551265921167683 Centerline is valid? [True, True] Translation: X:123.13, Y:-1.91, Z:-2.68 [[ 9.98859032e-01 4.57093062e-02 1.38309183e-02 1.23126149e+02] [-4.57033013e-02 9.98954777e-01 -7.50100367e-04 -1.90631131e+00] [-1.38507485e-02 1.17125900e-04 9.99904067e-01 -2.67627827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60439141799998 meters 0.015094527903990176 Centerline is valid? [True, True] Translation: X:123.19, Y:-1.91, Z:-2.68 [[ 9.98696028e-01 4.92904835e-02 1.32925589e-02 1.23185412e+02] [-4.92852670e-02 9.98784483e-01 -7.19929438e-04 -1.90756009e+00] [-1.33118873e-02 6.38633549e-05 9.99911391e-01 -2.67700902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66439141799998 meters 0.015086351645244456 Centerline is valid? [True, True] Translation: X:123.24, Y:-1.91, Z:-2.68 [[ 9.98716232e-01 4.90347739e-02 1.27074262e-02 1.23243336e+02] [-4.90299946e-02 9.98797070e-01 -6.87552287e-04 -1.91223969e+00] [-1.27258540e-02 6.36245907e-05 9.99919021e-01 -2.67899996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72439141799998 meters 0.01656316050235967 Centerline is valid? [True, True] Translation: X:123.30, Y:-1.92, Z:-2.68 [[ 9.98829860e-01 4.71399219e-02 1.08045790e-02 1.23301809e+02] [-4.71363677e-02 9.98888293e-01 -5.83505534e-04 -1.91849475e+00] [-1.08200739e-02 7.35341423e-05 9.99941459e-01 -2.68135787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78439141799998 meters 0.016311420393123107 Centerline is valid? [True, True] Translation: X:123.36, Y:-1.93, Z:-2.68 [[ 9.99105314e-01 4.09710132e-02 1.04855902e-02 1.23360512e+02] [-4.09673343e-02 9.99160326e-01 -5.65488545e-04 -1.92901977e+00] [-1.04999543e-02 1.35415933e-04 9.99944865e-01 -2.68259003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84439141799997 meters 0.01846072125379869 Centerline is valid? [True, True] Translation: X:123.42, Y:-1.94, Z:-2.68 [[ 9.99424454e-01 3.21739853e-02 1.07515497e-02 1.23419055e+02] [-3.21696206e-02 9.99482256e-01 -5.78700718e-04 -1.94097081e+00] [-1.07646023e-02 2.32494374e-04 9.99942033e-01 -2.68234767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90439141799997 meters 0.021077397990434066 Centerline is valid? [True, True] Translation: X:123.48, Y:-1.95, Z:-2.68 [[ 9.99609377e-01 2.54066640e-02 1.16444795e-02 1.23478154e+02] [-2.54010975e-02 9.99677144e-01 -6.25711322e-04 -1.95130151e+00] [-1.16566172e-02 3.29684347e-04 9.99932005e-01 -2.68273729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96439141799998 meters 0.027302888464151517 Centerline is valid? [True, True] Translation: X:123.54, Y:-1.97, Z:-2.68 [[ 9.99847606e-01 1.32416663e-02 1.13764017e-02 1.23537969e+02] [-1.32355824e-02 9.99912220e-01 -6.09912508e-04 -1.96916447e+00] [-1.13834794e-02 4.59246259e-04 9.99935101e-01 -2.68431783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02439141799998 meters 0.03345887991547514 Centerline is valid? [True, True] Translation: X:123.60, Y:-1.98, Z:-2.69 [[ 9.99929778e-01 8.65863172e-06 1.18507332e-02 1.23597999e+02] [-1.11663058e-06 9.99999797e-01 -6.36422885e-04 -1.98496619e+00] [-1.18507363e-02 6.36364961e-04 9.99929575e-01 -2.68569101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08439141799998 meters 0.044169874978899085 Centerline is valid? [True, True] Translation: X:123.66, Y:-2.00, Z:-2.69 [[ 9.99875131e-01 -1.15371132e-02 1.07989787e-02 1.23656626e+02] [ 1.15440469e-02 9.99933197e-01 -5.79959835e-04 -2.00350753e+00] [-1.07915662e-02 7.04551333e-04 9.99941521e-01 -2.68821710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14439141799998 meters 0.047746520735157894 Centerline is valid? [True, True] Translation: X:123.72, Y:-2.01, Z:-2.69 [[ 9.99819159e-01 -1.58087505e-02 1.05703631e-02 1.23716376e+02] [ 1.58156322e-02 9.99874764e-01 -5.67761062e-04 -2.01129834e+00] [-1.05600637e-02 7.34835363e-04 9.99943971e-01 -2.68991012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20439141799997 meters 0.04446864914751277 Centerline is valid? [True, True] Translation: X:123.78, Y:-2.01, Z:-2.69 [[ 9.99798255e-01 -1.72622801e-02 1.02694955e-02 1.23778926e+02] [ 1.72688430e-02 9.99850731e-01 -5.50728410e-04 -2.00736688e+00] [-1.02584557e-02 7.27959608e-04 9.99947116e-01 -2.69044239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26439141799997 meters 0.045201144086556164 Centerline is valid? [True, True] Translation: X:123.84, Y:-2.01, Z:-2.69 [[ 9.99829698e-01 -1.49744834e-02 1.07861053e-02 1.23839365e+02] [ 1.49816085e-02 9.99887601e-01 -5.80081848e-04 -2.00856536e+00] [-1.07762065e-02 7.41576266e-04 9.99941660e-01 -2.69233698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32439141799998 meters 0.03803376967535582 Centerline is valid? [True, True] Translation: X:123.90, Y:-2.00, Z:-2.69 [[ 9.99897536e-01 -9.18948181e-03 1.09759070e-02 1.23900339e+02] [ 9.19651700e-03 9.99957537e-01 -5.90665977e-04 -1.99790027e+00] [-1.09700130e-02 6.91545571e-04 9.99939588e-01 -2.69368875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38439141799998 meters 0.03590323646446933 Centerline is valid? [True, True] Translation: X:123.96, Y:-1.99, Z:-2.70 [[ 9.99928569e-01 -4.06856352e-03 1.12384793e-02 1.23961598e+02] [ 4.07561840e-03 9.99991512e-01 -6.04912297e-04 -1.99457087e+00] [-1.12359228e-02 6.50672840e-04 9.99936663e-01 -2.69538599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44439141799998 meters 0.030079534472494507 Centerline is valid? [True, True] Translation: X:124.02, Y:-1.98, Z:-2.70 [[ 9.99904421e-01 4.91555203e-03 1.29223020e-02 1.24022660e+02] [-4.90697124e-03 9.99987719e-01 -6.95651835e-04 -1.98327694e+00] [-1.29255628e-02 6.32175981e-04 9.99916262e-01 -2.69569232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50439141799998 meters 0.025983567666767824 Centerline is valid? [True, True] Translation: X:124.08, Y:-1.97, Z:-2.70 [[ 9.99783785e-01 1.56932584e-02 1.36420014e-02 1.24083226e+02] [-1.56846968e-02 9.99876718e-01 -7.34364176e-04 -1.97391757e+00] [-1.36518442e-02 5.20234739e-04 9.99906674e-01 -2.69736762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56439141799999 meters 0.021407825144761736 Centerline is valid? [True, True] Translation: X:124.14, Y:-1.96, Z:-2.70 [[ 9.99510458e-01 2.69963806e-02 1.58126294e-02 1.24143292e+02] [-2.69862886e-02 9.99635441e-01 -8.51291563e-04 -1.96423661e+00] [-1.58298465e-02 4.24150640e-04 9.99874610e-01 -2.69816957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62439141799997 meters 0.01820154664165522 Centerline is valid? [True, True] Translation: X:124.20, Y:-1.96, Z:-2.70 [[ 9.99292639e-01 3.38843282e-02 1.63117439e-02 1.24204796e+02] [-3.38745154e-02 9.99425709e-01 -8.77577996e-04 -1.95862666e+00] [-1.63321124e-02 3.24404811e-04 9.99866570e-01 -2.69971017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68439141799998 meters 0.016526601408818502 Centerline is valid? [True, True] Translation: X:124.26, Y:-1.96, Z:-2.70 [[ 9.99032092e-01 4.06344932e-02 1.68439233e-02 1.24263560e+02] [-4.06249753e-02 9.99174053e-01 -9.06984796e-04 -1.95568720e+00] [-1.68668660e-02 2.21822950e-04 9.99857720e-01 -2.70242660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74439141799998 meters 0.016122736420996157 Centerline is valid? [True, True] Translation: X:124.32, Y:-1.96, Z:-2.70 [[ 9.98952030e-01 4.22552007e-02 1.75880406e-02 1.24322352e+02] [-4.22450925e-02 9.99106830e-01 -9.46022246e-04 -1.95629480e+00] [-1.76123059e-02 2.02022439e-04 9.99844871e-01 -2.70360546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80439141799998 meters 0.016291603435162384 Centerline is valid? [True, True] Translation: X:124.38, Y:-1.96, Z:-2.70 [[ 9.98939679e-01 4.19219864e-02 1.90280239e-02 1.24380627e+02] [-4.19101263e-02 9.99120862e-01 -1.02181591e-03 -1.95847112e+00] [-1.90541322e-02 2.23265570e-04 9.99818429e-01 -2.70414792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86439141799998 meters 0.01669480723331017 Centerline is valid? [True, True] Translation: X:124.44, Y:-1.96, Z:-2.71 [[ 9.99034994e-01 3.90306765e-02 2.01416791e-02 1.24440073e+02] [-3.90168348e-02 9.99237970e-01 -1.07988361e-03 -1.96282840e+00] [-2.01684791e-02 2.92976951e-04 9.99796553e-01 -2.70547031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92439141799998 meters 0.018084306801959882 Centerline is valid? [True, True] Translation: X:124.50, Y:-1.97, Z:-2.71 [[ 9.99098601e-01 3.66941820e-02 2.13429853e-02 1.24499648e+02] [-3.66781269e-02 9.99326477e-01 -1.14334641e-03 -1.97001994e+00] [-2.13705645e-02 3.59495073e-04 9.99771559e-01 -2.70674397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98439141799997 meters 0.019475456336670794 Centerline is valid? [True, True] Translation: X:124.56, Y:-1.97, Z:-2.71 [[ 9.99158718e-01 3.36497245e-02 2.34425290e-02 1.24560303e+02] [-3.36295284e-02 9.99433579e-01 -1.25533147e-03 -1.97466316e+00] [-2.34714922e-02 4.65914191e-04 9.99724398e-01 -2.70766275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04439141799998 meters 0.019325432521833115 Centerline is valid? [True, True] Translation: X:124.62, Y:-1.98, Z:-2.71 [[ 9.99212243e-01 3.23960998e-02 2.29213253e-02 1.24621041e+02] [-3.23764591e-02 9.99474991e-01 -1.22756088e-03 -1.98024273e+00] [-2.29490596e-02 4.84482503e-04 9.99736518e-01 -2.70834892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10439141799998 meters 0.020054952477657206 Centerline is valid? [True, True] Translation: X:124.68, Y:-1.99, Z:-2.71 [[ 9.99260923e-01 3.10312117e-02 2.26863853e-02 1.24683179e+02] [-3.10115393e-02 9.99518284e-01 -1.21853311e-03 -1.98722976e+00] [-2.27132695e-02 5.14092788e-04 9.99741888e-01 -2.71124329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16439141799998 meters 0.020025696015255327 Centerline is valid? [True, True] Translation: X:124.74, Y:-1.99, Z:-2.71 [[ 9.99225433e-01 3.25120045e-02 2.21698728e-02 1.24744394e+02] [-3.24934476e-02 9.99471232e-01 -1.19684513e-03 -1.99236247e+00] [-2.21970619e-02 4.75542490e-04 9.99753502e-01 -2.71341029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22439141799998 meters 0.0181161177763653 Centerline is valid? [True, True] Translation: X:124.81, Y:-1.99, Z:-2.72 [[ 9.99101767e-01 3.58323210e-02 2.26208708e-02 1.24806478e+02] [-3.58137179e-02 9.99357730e-01 -1.22710008e-03 -1.99315814e+00] [-2.26503120e-02 4.15860369e-04 9.99743362e-01 -2.71533742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28439141799998 meters 0.01701895626409679 Centerline is valid? [True, True] Translation: X:124.87, Y:-2.00, Z:-2.72 [[ 9.98909766e-01 4.15905420e-02 2.12015673e-02 1.24867305e+02] [-4.15753718e-02 9.99134702e-01 -1.15599236e-03 -1.99520320e+00] [-2.12312999e-02 2.73269012e-04 9.99774553e-01 -2.71852668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34439141799997 meters 0.017051454358356224 Centerline is valid? [True, True] Translation: X:124.93, Y:-1.99, Z:-2.72 [[ 9.98720465e-01 4.61627306e-02 2.06503215e-02 1.24926765e+02] [-4.61492971e-02 9.98933918e-01 -1.12685831e-03 -1.99493124e+00] [-2.06803255e-02 1.72418636e-04 9.99786124e-01 -2.72056848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40439141799997 meters 0.015876076494167005 Centerline is valid? [True, True] Translation: X:124.99, Y:-1.99, Z:-2.72 [[ 9.98343946e-01 5.37783441e-02 2.04268355e-02 1.24985341e+02] [-5.37668081e-02 9.98552898e-01 -1.11392598e-03 -1.99282526e+00] [-2.04571809e-02 1.37955120e-05 9.99790730e-01 -2.72155950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46439141799998 meters 0.015322468084714895 Centerline is valid? [True, True] Translation: X:125.04, Y:-1.99, Z:-2.72 [[ 9.98040520e-01 5.92323487e-02 2.01655677e-02 1.25043388e+02] [-5.92222512e-02 9.98244218e-01 -1.09807153e-03 -1.99437781e+00] [-2.01952027e-02 -9.83304364e-05 9.99796051e-01 -2.72239481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52439141799998 meters 0.015218295161849804 Centerline is valid? [True, True] Translation: X:125.10, Y:-2.00, Z:-2.72 [[ 9.97947623e-01 6.05569958e-02 2.08180845e-02 1.25101829e+02] [-6.05465680e-02 9.98164732e-01 -1.13141651e-03 -1.99980247e+00] [-2.08483929e-02 -1.31369154e-04 9.99782640e-01 -2.72352567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58439141799998 meters 0.014916853743568277 Centerline is valid? [True, True] Translation: X:125.16, Y:-2.01, Z:-2.73 [[ 9.98149469e-01 5.73188585e-02 2.03023558e-02 1.25159876e+02] [-5.73083038e-02 9.98355921e-01 -1.10177924e-03 -2.00947284e+00] [-2.03321299e-02 -6.37532187e-05 9.99793279e-01 -2.72509927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64439141799998 meters 0.014981405332382913 Centerline is valid? [True, True] Translation: X:125.22, Y:-2.02, Z:-2.73 [[ 9.98529697e-01 5.06652688e-02 1.92737052e-02 1.25217715e+02] [-5.06545452e-02 9.98715688e-01 -1.04448307e-03 -2.02455267e+00] [-1.93018708e-02 6.66465957e-05 9.99813699e-01 -2.72746075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70439141799997 meters 0.015571637417489155 Centerline is valid? [True, True] Translation: X:125.28, Y:-2.04, Z:-2.73 [[ 9.98756291e-01 4.57523866e-02 1.98138849e-02 1.25276307e+02] [-4.57401200e-02 9.98952798e-01 -1.07207272e-03 -2.03683068e+00] [-1.98421856e-02 1.64449905e-04 9.99803111e-01 -2.72853230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76439141799997 meters 0.017677415715649274 Centerline is valid? [True, True] Translation: X:125.33, Y:-2.05, Z:-2.73 [[ 9.99067775e-01 3.81829597e-02 2.01405486e-02 1.25334742e+02] [-3.81687739e-02 9.99270714e-01 -1.08841759e-03 -2.05285587e+00] [-2.01674194e-02 3.18662896e-04 9.99796566e-01 -2.72828040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82439141799998 meters 0.020335819346035598 Centerline is valid? [True, True] Translation: X:125.39, Y:-2.07, Z:-2.73 [[ 9.99336453e-01 3.09016529e-02 1.92806034e-02 1.25394928e+02] [-3.08873072e-02 9.99522331e-01 -1.04147058e-03 -2.06809476e+00] [-1.93035768e-02 4.45253600e-04 9.99813569e-01 -2.73014129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88439141799998 meters 0.02343259493772647 Centerline is valid? [True, True] Translation: X:125.45, Y:-2.08, Z:-2.73 [[ 9.99502801e-01 2.50600052e-02 1.91349900e-02 1.25454902e+02] [-2.50447983e-02 9.99685795e-01 -1.03397895e-03 -2.08347658e+00] [-1.91548892e-02 5.54232887e-04 9.99816375e-01 -2.73149713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94439141799998 meters 0.024784662811934338 Centerline is valid? [True, True] Translation: X:125.52, Y:-2.09, Z:-2.73 [[ 9.99571267e-01 2.21295724e-02 1.91719754e-02 1.25516710e+02] [-2.21137642e-02 9.99754924e-01 -1.03618242e-03 -2.09177714e+00] [-1.91902071e-02 6.11773633e-04 9.99815664e-01 -2.73242335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00439141799998 meters 0.02787733938521142 Centerline is valid? [True, True] Translation: X:125.58, Y:-2.10, Z:-2.73 [[ 9.99653153e-01 1.89216817e-02 1.83178527e-02 1.25577683e+02] [-1.89066919e-02 9.99820761e-01 -9.91163252e-04 -2.10251593e+00] [-1.83333239e-02 6.44489473e-04 9.99831723e-01 -2.73441010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06439141799997 meters 0.025837184447096463 Centerline is valid? [True, True] Translation: X:125.64, Y:-2.10, Z:-2.74 [[ 9.99707768e-01 1.75295170e-02 1.66461428e-02 1.25639979e+02] [-1.75169268e-02 9.99846160e-01 -9.01861677e-04 -2.10425094e+00] [-1.66593911e-02 6.10008861e-04 9.99861037e-01 -2.73684331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12439141799997 meters 0.026728165111761956 Centerline is valid? [True, True] Translation: X:125.70, Y:-2.11, Z:-2.74 [[ 9.99769426e-01 1.54585139e-02 1.49040096e-02 1.25701591e+02] [-1.54481169e-02 9.99880341e-01 -8.12482071e-04 -2.11020140e+00] [-1.49147860e-02 5.82055852e-04 9.99888599e-01 -2.73899752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18439141799998 meters 0.032454540535301356 Centerline is valid? [True, True] Translation: X:125.76, Y:-2.12, Z:-2.74 [[ 9.99783140e-01 1.49735426e-02 1.44729399e-02 1.25762269e+02] [-1.49636907e-02 9.99887727e-01 -7.88766110e-04 -2.12132967e+00] [-1.44831256e-02 5.72026462e-04 9.99894950e-01 -2.74171388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24439141799998 meters 0.027806300893150265 Centerline is valid? [True, True] Translation: X:125.83, Y:-2.12, Z:-2.74 [[ 9.99739420e-01 1.68544949e-02 1.53953978e-02 1.25825049e+02] [-1.68435043e-02 9.99857783e-01 -8.43285384e-04 -2.11607066e+00] [-1.54074214e-02 5.83753192e-04 9.99881128e-01 -2.74080545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30439141799998 meters 0.026188953457633463 Centerline is valid? [True, True] Translation: X:125.89, Y:-2.11, Z:-2.74 [[ 9.99690133e-01 1.93815191e-02 1.56203566e-02 1.25887693e+02] [-1.93704452e-02 9.99812006e-01 -8.59940083e-04 -2.11494593e+00] [-1.56340870e-02 5.57100354e-04 9.99877625e-01 -2.74185096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36439141799998 meters 0.024104225139873543 Centerline is valid? [True, True] Translation: X:125.95, Y:-2.11, Z:-2.74 [[ 9.99589092e-01 2.47727923e-02 1.44206523e-02 1.25949255e+02] [-2.47638379e-02 9.99693010e-01 -7.99199711e-04 -2.11036069e+00] [-1.44360237e-02 4.41760616e-04 9.99895698e-01 -2.74438197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42439141799998 meters 0.020451720292910876 Centerline is valid? [True, True] Translation: X:126.01, Y:-2.10, Z:-2.74 [[ 9.99395348e-01 3.14030825e-02 1.49260076e-02 1.26010994e+02] [-3.13942171e-02 9.99506737e-01 -8.27953123e-04 -2.10351892e+00] [-1.49446454e-02 3.58862177e-04 9.99888258e-01 -2.74487785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48439141799997 meters 0.018060556031587873 Centerline is valid? [True, True] Translation: X:126.07, Y:-2.10, Z:-2.74 [[ 9.99217453e-01 3.59816461e-02 1.64256954e-02 1.26071977e+02] [-3.59715199e-02 9.99352400e-01 -9.11617568e-04 -2.09899295e+00] [-1.64478596e-02 3.20046957e-04 9.99864674e-01 -2.74431351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54439141799998 meters 0.018067472294086565 Centerline is valid? [True, True] Translation: X:126.13, Y:-2.10, Z:-2.75 [[ 9.99179253e-01 3.70505229e-02 1.63731055e-02 1.26131276e+02] [-3.70406012e-02 9.99313348e-01 -9.08922944e-04 -2.10022373e+00] [-1.63955390e-02 3.01707277e-04 9.99865539e-01 -2.74609996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60439141799998 meters 0.018035788155168896 Centerline is valid? [True, True] Translation: X:126.19, Y:-2.10, Z:-2.75 [[ 9.99141723e-01 3.80555477e-02 1.63582434e-02 1.26190865e+02] [-3.80457911e-02 9.99275585e-01 -9.07334805e-04 -2.10184881e+00] [-1.63809224e-02 2.84193750e-04 9.99865783e-01 -2.74834250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66439141799998 meters 0.01769260020538123 Centerline is valid? [True, True] Translation: X:126.25, Y:-2.10, Z:-2.75 [[ 9.99104124e-01 3.95603604e-02 1.50308510e-02 1.26250456e+02] [-3.95522953e-02 9.99217154e-01 -8.33582784e-04 -2.10404530e+00] [-1.50520610e-02 2.38331339e-04 9.99886683e-01 -2.75119440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72439141799998 meters 0.018280253787016303 Centerline is valid? [True, True] Translation: X:126.31, Y:-2.11, Z:-2.75 [[ 9.99034764e-01 4.12650759e-02 1.50576778e-02 1.26310480e+02] [-4.12571843e-02 9.99148211e-01 -8.34486530e-04 -2.10590558e+00] [-1.50792870e-02 2.12443666e-04 9.99886279e-01 -2.75286900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78439141799998 meters 0.016855207685392493 Centerline is valid? [True, True] Translation: X:126.37, Y:-2.11, Z:-2.75 [[ 9.98933807e-01 4.29177066e-02 1.70093977e-02 1.26369723e+02] [-4.29078888e-02 9.99078588e-01 -9.41893027e-04 -2.10799815e+00] [-1.70341490e-02 2.11051439e-04 9.99854886e-01 -2.75232664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84439141799997 meters 0.017053980748073416 Centerline is valid? [True, True] Translation: X:126.43, Y:-2.11, Z:-2.75 [[ 9.98938803e-01 4.26184524e-02 1.74623936e-02 1.26428400e+02] [-4.26080693e-02 9.99091396e-01 -9.66384977e-04 -2.11411303e+00] [-1.74877130e-02 2.21320577e-04 9.99847054e-01 -2.75412030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90439141799997 meters 0.016611830956579525 Centerline is valid? [True, True] Translation: X:126.49, Y:-2.12, Z:-2.75 [[ 9.98972721e-01 4.15692542e-02 1.80416228e-02 1.26488266e+02] [-4.15580194e-02 9.99135595e-01 -9.97346377e-04 -2.11760301e+00] [-1.80674865e-02 2.46547711e-04 9.99836739e-01 -2.75464862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96439141799998 meters 0.016682212460218608 Centerline is valid? [True, True] Translation: X:126.55, Y:-2.12, Z:-2.76 [[ 9.98978488e-01 4.13604316e-02 1.82015301e-02 1.26548560e+02] [-4.13489781e-02 9.99144260e-01 -1.00530764e-03 -2.12148761e+00] [-1.82275342e-02 2.51666036e-04 9.99833833e-01 -2.75621945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02439141799998 meters 0.01665139516856821 Centerline is valid? [True, True] Translation: X:126.61, Y:-2.13, Z:-2.76 [[ 9.98953795e-01 4.20026252e-02 1.80857597e-02 1.26609130e+02] [-4.19914223e-02 9.99117472e-01 -9.98913406e-04 -2.12546829e+00] [-1.81117555e-02 2.38421565e-04 9.99835940e-01 -2.75775799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08439141799998 meters 0.01575799002846848 Centerline is valid? [True, True] Translation: X:126.67, Y:-2.13, Z:-2.76 [[ 9.98838327e-01 4.47994263e-02 1.77484500e-02 1.26668608e+02] [-4.47890757e-02 9.98995985e-01 -9.80454196e-04 -2.12863736e+00] [-1.77745541e-02 1.84378558e-04 9.99842003e-01 -2.75924100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14439141799998 meters 0.015305276563182339 Centerline is valid? [True, True] Translation: X:126.73, Y:-2.13, Z:-2.76 [[ 9.98671249e-01 4.87145677e-02 1.68115515e-02 1.26726961e+02] [-4.87058446e-02 9.98812735e-01 -9.28169571e-04 -2.13194356e+00] [-1.68368071e-02 1.08115451e-04 9.99858245e-01 -2.76158400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20439141799997 meters 0.015080820921621252 Centerline is valid? [True, True] Translation: X:126.79, Y:-2.14, Z:-2.76 [[ 9.98596936e-01 5.04855355e-02 1.59802799e-02 1.26785552e+02] [-5.04778929e-02 9.98724790e-01 -8.81497475e-04 -2.13548629e+00] [-1.60044045e-02 7.36098227e-05 9.99871919e-01 -2.76392675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26439141799997 meters 0.014860196634105757 Centerline is valid? [True, True] Translation: X:126.84, Y:-2.14, Z:-2.77 [[ 9.98531395e-01 5.20176206e-02 1.51400556e-02 1.26843725e+02] [-5.20109527e-02 9.98646166e-01 -8.34094359e-04 -2.14091503e+00] [-1.51629460e-02 4.54206902e-05 9.99885035e-01 -2.76612698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32439141799998 meters 0.014803744021050533 Centerline is valid? [True, True] Translation: X:126.90, Y:-2.15, Z:-2.77 [[ 9.98551019e-01 5.14712238e-02 1.57027178e-02 1.26901040e+02] [-5.14640017e-02 9.98674477e-01 -8.63935604e-04 -2.14730350e+00] [-1.57263713e-02 5.45590811e-05 9.99876331e-01 -2.76671022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38439141799998 meters 0.014762857464702012 Centerline is valid? [True, True] Translation: X:126.96, Y:-2.15, Z:-2.77 [[ 9.98665619e-01 4.91532371e-02 1.58410956e-02 1.26959846e+02] [-4.91456210e-02 9.98791245e-01 -8.69944887e-04 -2.15385322e+00] [-1.58647083e-02 9.02635665e-05 9.99874144e-01 -2.76675516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44439141799998 meters 0.01598042594285293 Centerline is valid? [True, True] Translation: X:127.02, Y:-2.17, Z:-2.77 [[ 9.98974603e-01 4.20413274e-02 1.68008470e-02 1.27019038e+02] [-4.20317820e-02 9.99115850e-01 -9.21015985e-04 -2.16758191e+00] [-1.68247133e-02 2.13902040e-04 9.99858432e-01 -2.76756877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50439141799998 meters 0.018152576328094184 Centerline is valid? [True, True] Translation: X:127.08, Y:-2.18, Z:-2.77 [[ 9.99208328e-01 3.56093433e-02 1.77395363e-02 1.27077998e+02] [-3.55977029e-02 9.99365729e-01 -9.71620829e-04 -2.17937053e+00] [-1.77628834e-02 3.39364883e-04 9.99842170e-01 -2.76816234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56439141799997 meters 0.023886629427626378 Centerline is valid? [True, True] Translation: X:127.14, Y:-2.20, Z:-2.77 [[ 9.99532487e-01 2.55556116e-02 1.67844407e-02 1.27137368e+02] [-2.55437809e-02 9.99673282e-01 -9.18898601e-04 -2.19649706e+00] [-1.68024400e-02 4.89730927e-04 9.99858709e-01 -2.77127621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62439141799997 meters 0.027149921778843365 Centerline is valid? [True, True] Translation: X:127.20, Y:-2.21, Z:-2.77 [[ 9.99731742e-01 1.70174012e-02 1.57115206e-02 1.27197219e+02] [-1.70059822e-02 9.99855018e-01 -8.60121346e-04 -2.20777370e+00] [-1.57238797e-02 5.92700773e-04 9.99876196e-01 -2.77329482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68439141799998 meters 0.02726941483120037 Centerline is valid? [True, True] Translation: X:127.26, Y:-2.21, Z:-2.77 [[ 9.99768233e-01 1.39043817e-02 1.64361704e-02 1.27259324e+02] [-1.38914710e-02 9.99903104e-01 -8.99423635e-04 -2.21274115e+00] [-1.64470838e-02 6.70892594e-04 9.99864512e-01 -2.77344425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74439141799998 meters 0.026777936094660615 Centerline is valid? [True, True] Translation: X:127.32, Y:-2.22, Z:-2.77 [[ 9.99724526e-01 1.58141185e-02 1.73431588e-02 1.27321874e+02] [-1.58000201e-02 9.99874721e-01 -9.49637176e-04 -2.21514237e+00] [-1.73560037e-02 6.75353319e-04 9.99849145e-01 -2.77366435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80439141799998 meters 0.024308311738020956 Centerline is valid? [True, True] Translation: X:127.38, Y:-2.21, Z:-2.77 [[ 9.99672984e-01 1.86562182e-02 1.74891568e-02 1.27384245e+02] [-1.86422292e-02 9.99825755e-01 -9.62568067e-04 -2.21459528e+00] [-1.75040673e-02 6.36216421e-04 9.99846590e-01 -2.77484208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86439141799998 meters 0.023549182392174857 Centerline is valid? [True, True] Translation: X:127.45, Y:-2.22, Z:-2.78 [[ 9.99626895e-01 2.12698179e-02 1.71366940e-02 1.27446760e+02] [-2.12566877e-02 9.99773602e-01 -9.48007118e-04 -2.21519490e+00] [-1.71529782e-02 5.83384060e-04 9.99852707e-01 -2.77717751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92439141799998 meters 0.023141121055836038 Centerline is valid? [True, True] Translation: X:127.51, Y:-2.22, Z:-2.78 [[ 9.99613592e-01 2.31370950e-02 1.54059050e-02 1.27509405e+02] [-2.31266275e-02 9.99732176e-01 -8.57283425e-04 -2.21569576e+00] [-1.54216139e-02 5.00665539e-04 9.99880954e-01 -2.78026108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98439141799997 meters 0.023780421038773765 Centerline is valid? [True, True] Translation: X:127.57, Y:-2.22, Z:-2.78 [[ 9.99645484e-01 2.21912777e-02 1.47123269e-02 1.27571258e+02] [-2.21816282e-02 9.99753622e-01 -8.18761292e-04 -2.21707032e+00] [-1.47268715e-02 4.92127664e-04 9.99891433e-01 -2.78187768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044391418 meters 0.02455563146603999 Centerline is valid? [True, True] Translation: X:127.63, Y:-2.22, Z:-2.78 [[ 9.99705195e-01 1.92046465e-02 1.48561168e-02 1.27633208e+02] [-1.91943935e-02 9.99815424e-01 -8.32438282e-04 -2.21816223e+00] [-1.48693614e-02 5.47038722e-04 9.99889295e-01 -2.78226195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104391418 meters 0.025993833688819832 Centerline is valid? [True, True] Translation: X:127.70, Y:-2.22, Z:-2.78 [[ 9.99724478e-01 1.76044579e-02 1.55258394e-02 1.27695372e+02] [-1.75930663e-02 9.99844852e-01 -8.70010963e-04 -2.21967834e+00] [-1.55387467e-02 5.96624134e-04 9.99879088e-01 -2.78340853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16439141799998 meters 0.026126375268784578 Centerline is valid? [True, True] Translation: X:127.76, Y:-2.22, Z:-2.78 [[ 9.99686710e-01 1.87340834e-02 1.65986750e-02 1.27758024e+02] [-1.87211324e-02 9.99824307e-01 -9.35301584e-04 -2.22088159e+00] [-1.66132807e-02 6.24262572e-04 9.99861795e-01 -2.78474189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22439141799998 meters 0.02500257286117597 Centerline is valid? [True, True] Translation: X:127.82, Y:-2.22, Z:-2.79 [[ 9.99606228e-01 2.21552100e-02 1.72201938e-02 1.27820147e+02] [-2.21416722e-02 9.99754366e-01 -9.76440441e-04 -2.21704506e+00] [-1.72375971e-02 5.94772061e-04 9.99851245e-01 -2.78640382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28439141799998 meters 0.02339895664590675 Centerline is valid? [True, True] Translation: X:127.88, Y:-2.21, Z:-2.79 [[ 9.99511358e-01 2.62893071e-02 1.69091101e-02 1.27881596e+02] [-2.62768266e-02 9.99654244e-01 -9.59885722e-04 -2.21270135e+00] [-1.69284984e-02 5.15098927e-04 9.99856570e-01 -2.78890873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344391418 meters 0.022212882494457117 Centerline is valid? [True, True] Translation: X:127.94, Y:-2.21, Z:-2.79 [[ 9.99437215e-01 2.89237428e-02 1.69902925e-02 1.27944338e+02] [-2.89115160e-02 9.99581509e-01 -9.64871150e-04 -2.21120274e+00] [-1.70110899e-02 4.73113022e-04 9.99855189e-01 -2.79075433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404391418 meters 0.018765136677973342 Centerline is valid? [True, True] Translation: X:128.01, Y:-2.20, Z:-2.79 [[ 9.99288128e-01 3.34510253e-02 1.74432258e-02 1.28006177e+02] [-3.34387919e-02 9.99440274e-01 -9.92601866e-04 -2.20460663e+00] [-1.74666659e-02 4.08614864e-04 9.99847363e-01 -2.79132396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464391418 meters 0.017596968120035823 Centerline is valid? [True, True] Translation: X:128.07, Y:-2.20, Z:-2.79 [[ 9.99190917e-01 3.66554259e-02 1.65496267e-02 1.28066647e+02] [-3.66448388e-02 9.99327908e-01 -9.42620706e-04 -2.20192167e+00] [-1.65730560e-02 3.35399647e-04 9.99862601e-01 -2.79352569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524391418 meters 0.01665645164000835 Centerline is valid? [True, True] Translation: X:128.13, Y:-2.20, Z:-2.80 [[ 9.99055441e-01 4.06300815e-02 1.54085183e-02 1.28127084e+02] [-4.06213708e-02 9.99174226e-01 -8.78004343e-04 -2.19914138e+00] [-1.54314677e-02 2.51259882e-04 9.99880896e-01 -2.79620903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584391418 meters 0.016145099277533815 Centerline is valid? [True, True] Translation: X:128.19, Y:-2.20, Z:-2.80 [[ 9.98972451e-01 4.24150431e-02 1.59689237e-02 1.28186189e+02] [-4.24059324e-02 9.99100050e-01 -9.08860382e-04 -2.19823025e+00] [-1.59931019e-02 2.30749383e-04 9.99872076e-01 -2.79682173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644391418 meters 0.017111227962732335 Centerline is valid? [True, True] Translation: X:128.24, Y:-2.20, Z:-2.80 [[ 9.98990406e-01 4.20317385e-02 1.58587988e-02 1.28244850e+02] [-4.20227100e-02 9.99116248e-01 -9.02257409e-04 -2.20013690e+00] [-1.58827070e-02 2.34916793e-04 9.99873834e-01 -2.79813707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704391418 meters 0.017605616908170543 Centerline is valid? [True, True] Translation: X:128.30, Y:-2.21, Z:-2.80 [[ 9.99116653e-01 3.81889299e-02 1.75362445e-02 1.28304061e+02] [-3.81773295e-02 9.99270484e-01 -9.95924461e-04 -2.20642702e+00] [-1.75614849e-02 3.25557728e-04 9.99845732e-01 -2.79832628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764391418 meters 0.02172390467074903 Centerline is valid? [True, True] Translation: X:128.36, Y:-2.21, Z:-2.80 [[ 9.99266420e-01 3.47335286e-02 1.61308139e-02 1.28363031e+02] [-3.47232744e-02 9.99396546e-01 -9.15420101e-04 -2.21427407e+00] [-1.61528755e-02 3.54633891e-04 9.99869471e-01 -2.80089144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824391418 meters 0.020161812219958282 Centerline is valid? [True, True] Translation: X:128.42, Y:-2.22, Z:-2.80 [[ 9.99326144e-01 3.25734207e-02 1.69183364e-02 1.28423462e+02] [-3.25618388e-02 9.99469262e-01 -9.59663026e-04 -2.21826412e+00] [-1.69406167e-02 4.08124208e-04 9.99856414e-01 -2.80061316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88439141799998 meters 0.020616671805390906 Centerline is valid? [True, True] Translation: X:128.48, Y:-2.22, Z:-2.80 [[ 9.99335534e-01 3.24631339e-02 1.65720980e-02 1.28483918e+02] [-3.24520061e-02 9.99472853e-01 -9.40023260e-04 -2.22297558e+00] [-1.65938782e-02 4.01600821e-04 9.99862231e-01 -2.80213688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94439141799998 meters 0.019983637854377925 Centerline is valid? [True, True] Translation: X:128.54, Y:-2.23, Z:-2.80 [[ 9.99272396e-01 3.43783063e-02 1.65169577e-02 1.28544482e+02] [-3.43675139e-02 9.99408823e-01 -9.36895522e-04 -2.22676481e+00] [-1.65394022e-02 3.68567060e-04 9.99863147e-01 -2.80395751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00439141799998 meters 0.017630941923364094 Centerline is valid? [True, True] Translation: X:128.60, Y:-2.23, Z:-2.81 [[ 9.99070112e-01 4.02363624e-02 1.54902155e-02 1.28604247e+02] [-4.02275701e-02 9.99190157e-01 -8.78898746e-04 -2.22552431e+00] [-1.55130345e-02 2.54947740e-04 9.99879633e-01 -2.80604955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06439141799999 meters 0.014990511919924223 Centerline is valid? [True, True] Translation: X:128.66, Y:-2.22, Z:-2.81 [[ 9.98705161e-01 4.86199995e-02 1.49698979e-02 1.28663043e+02] [-4.86127353e-02 9.98817341e-01 -8.48969380e-04 -2.22138642e+00] [-1.49934705e-02 1.20142418e-04 9.99887584e-01 -2.80792028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124391418 meters 0.013858437946628664 Centerline is valid? [True, True] Translation: X:128.72, Y:-2.22, Z:-2.81 [[ 9.98315912e-01 5.59746507e-02 1.52374273e-02 1.28722081e+02] [-5.59679913e-02 9.98432190e-01 -8.63455247e-04 -2.21862458e+00] [-1.52618695e-02 9.19291429e-06 9.99883531e-01 -2.80782869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184391418 meters 0.013977163970600916 Centerline is valid? [True, True] Translation: X:128.78, Y:-2.22, Z:-2.81 [[ 9.98116875e-01 5.95747519e-02 1.46134348e-02 1.28780592e+02] [-5.95690287e-02 9.98223846e-01 -8.26985687e-04 -2.21934422e+00] [-1.46367465e-02 -4.50797474e-05 9.99892876e-01 -2.80913265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244391418 meters 0.014413874354466573 Centerline is valid? [True, True] Translation: X:128.84, Y:-2.22, Z:-2.81 [[ 9.97958550e-01 6.21866716e-02 1.45447529e-02 1.28839641e+02] [-6.21812961e-02 9.98064532e-01 -8.21960484e-04 -2.22269002e+00] [-1.45677170e-02 -8.41290939e-05 9.99893882e-01 -2.81048106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304391418 meters 0.01426748563610012 Centerline is valid? [True, True] Translation: X:128.90, Y:-2.23, Z:-2.81 [[ 9.97960314e-01 6.20109491e-02 1.51609008e-02 1.28898314e+02] [-6.20051072e-02 9.98075465e-01 -8.55526067e-04 -2.23087293e+00] [-1.51847752e-02 -8.62722196e-05 9.99884701e-01 -2.81150337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364391418 meters 0.014063310661387447 Centerline is valid? [True, True] Translation: X:128.96, Y:-2.24, Z:-2.81 [[ 9.98098229e-01 5.99795825e-02 1.42258788e-02 1.28955725e+02] [-5.99742431e-02 9.98199603e-01 -8.02030698e-04 -2.24002597e+00] [-1.42483720e-02 -5.26808929e-05 9.99898485e-01 -2.81370164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424391418 meters 0.013860425282578364 Centerline is valid? [True, True] Translation: X:129.01, Y:-2.25, Z:-2.82 [[ 9.98238325e-01 5.78084566e-02 1.33576919e-02 1.29013985e+02] [-5.78035783e-02 9.98327693e-01 -7.51318409e-04 -2.24816653e+00] [-1.33787863e-02 -2.21275599e-05 9.99910500e-01 -2.81530121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484391418 meters 0.013905248900620807 Centerline is valid? [True, True] Translation: X:129.07, Y:-2.26, Z:-2.82 [[ 9.98402116e-01 5.47369945e-02 1.40383571e-02 1.29071449e+02] [-5.47313173e-02 9.98500807e-01 -7.88567390e-04 -2.26004124e+00] [-1.40604747e-02 1.89695713e-05 9.99901146e-01 -2.81792887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544391418 meters 0.01401847259587256 Centerline is valid? [True, True] Translation: X:129.13, Y:-2.27, Z:-2.82 [[ 9.98498261e-01 5.26993184e-02 1.49667977e-02 1.29130344e+02] [-5.26926673e-02 9.98610424e-01 -8.38662097e-04 -2.26948239e+00] [-1.49901971e-02 4.87621553e-05 9.99887639e-01 -2.81801875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604391418 meters 0.01456714219733505 Centerline is valid? [True, True] Translation: X:129.19, Y:-2.28, Z:-2.82 [[ 9.98668467e-01 4.88598261e-02 1.65532766e-02 1.29187246e+02] [-4.88511788e-02 9.98805639e-01 -9.26583470e-04 -2.28210382e+00] [-1.65787787e-02 1.16702617e-04 9.99862556e-01 -2.81763830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66439141799998 meters 0.016287002498100164 Centerline is valid? [True, True] Translation: X:129.25, Y:-2.30, Z:-2.82 [[ 9.98956247e-01 4.28326262e-02 1.58676442e-02 1.29246019e+02] [-4.28239506e-02 9.99082241e-01 -8.86279595e-04 -2.29795079e+00] [-1.58910432e-02 2.05839329e-04 9.99873708e-01 -2.81978336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72439141799998 meters 0.02093292574466391 Centerline is valid? [True, True] Translation: X:129.31, Y:-2.32, Z:-2.82 [[ 9.99331593e-01 3.37505717e-02 1.40451228e-02 1.29305442e+02] [-3.37428959e-02 9.99430239e-01 -7.83189228e-04 -2.31787919e+00] [-1.40635536e-02 3.08742621e-04 9.99901056e-01 -2.82375182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78439141799998 meters 0.02200979680485268 Centerline is valid? [True, True] Translation: X:129.37, Y:-2.33, Z:-2.82 [[ 9.99595950e-01 2.47279097e-02 1.40166785e-02 1.29365969e+02] [-2.47193627e-02 9.99694123e-01 -7.82721394e-04 -2.32941805e+00] [-1.40317462e-02 4.35921776e-04 9.99901455e-01 -2.82350241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844391418 meters 0.02403665027808097 Centerline is valid? [True, True] Translation: X:129.43, Y:-2.34, Z:-2.82 [[ 9.99681379e-01 2.05052012e-02 1.47199637e-02 1.29427441e+02] [-2.04953391e-02 9.99789612e-01 -8.20537994e-04 -2.34027152e+00] [-1.47336921e-02 5.18585907e-04 9.99891319e-01 -2.82372240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904391418 meters 0.030951499411626594 Centerline is valid? [True, True] Translation: X:129.49, Y:-2.36, Z:-2.83 [[ 9.99767776e-01 1.55942243e-02 1.48732727e-02 1.29486676e+02] [-1.55835301e-02 9.99878221e-01 -8.34654022e-04 -2.35865623e+00] [-1.48844772e-02 6.02682103e-04 9.99889038e-01 -2.82600754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964391418 meters 0.02923712195080746 Centerline is valid? [True, True] Translation: X:129.55, Y:-2.36, Z:-2.83 [[ 9.99806795e-01 1.31122160e-02 1.46438665e-02 1.29548933e+02] [-1.31015793e-02 9.99913833e-01 -8.22064989e-04 -2.36176832e+00] [-1.46533837e-02 6.30048385e-04 9.99892435e-01 -2.82703376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024391418 meters 0.03272667162194086 Centerline is valid? [True, True] Translation: X:129.61, Y:-2.37, Z:-2.83 [[ 9.99823647e-01 1.14178679e-02 1.49099434e-02 1.29610524e+02] [-1.14066550e-02 9.99934592e-01 -8.36869793e-04 -2.37217784e+00] [-1.49185234e-02 6.66649628e-04 9.99888490e-01 -2.82908684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084391418 meters 0.029819742211164 Centerline is valid? [True, True] Translation: X:129.67, Y:-2.37, Z:-2.83 [[ 9.99806144e-01 1.17906643e-02 1.57687786e-02 1.29673826e+02] [-1.17780972e-02 9.99930240e-01 -8.89593710e-04 -2.37308223e+00] [-1.57781674e-02 7.03695050e-04 9.99875269e-01 -2.82861820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144391418 meters 0.03165774166135009 Centerline is valid? [True, True] Translation: X:129.74, Y:-2.38, Z:-2.83 [[ 9.99802185e-01 1.25191326e-02 1.54551520e-02 1.29736002e+02] [-1.25070508e-02 9.99921398e-01 -8.78145765e-04 -2.37876900e+00] [-1.54649308e-02 6.84673684e-04 9.99880176e-01 -2.83054161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204391418 meters 0.030184103011003365 Centerline is valid? [True, True] Translation: X:129.80, Y:-2.38, Z:-2.83 [[ 9.99775248e-01 1.49111730e-02 1.50701859e-02 1.29797931e+02] [-1.48999364e-02 9.99888622e-01 -8.57629585e-04 -2.37881790e+00] [-1.50812957e-02 6.32892018e-04 9.99886070e-01 -2.83262926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264391418 meters 0.029589435479125833 Centerline is valid? [True, True] Translation: X:129.86, Y:-2.38, Z:-2.83 [[ 9.99737203e-01 1.71319780e-02 1.52322367e-02 1.29860464e+02] [-1.71206635e-02 9.99853050e-01 -8.72895278e-04 -2.38046754e+00] [-1.52449527e-02 6.11879884e-04 9.99883602e-01 -2.83421468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324391418 meters 0.028186229072528782 Centerline is valid? [True, True] Translation: X:129.92, Y:-2.38, Z:-2.84 [[ 9.99659183e-01 2.13934451e-02 1.49612493e-02 1.29920772e+02] [-2.13829736e-02 9.99770989e-01 -8.59546740e-04 -2.37882151e+00] [-1.49762117e-02 5.39337793e-04 9.99887705e-01 -2.83578485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38439141799998 meters 0.02534365267562393 Centerline is valid? [True, True] Translation: X:129.98, Y:-2.37, Z:-2.84 [[ 9.99538635e-01 2.68422520e-02 1.42130192e-02 1.29982886e+02] [-2.68333525e-02 9.99639587e-01 -8.16516113e-04 -2.37408037e+00] [-1.42298138e-02 4.34756445e-04 9.99898657e-01 -2.83767853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44439141799998 meters 0.02294060810860554 Centerline is valid? [True, True] Translation: X:130.04, Y:-2.37, Z:-2.84 [[ 9.99418512e-01 3.07837019e-02 1.46629101e-02 1.30044235e+02] [-3.07746374e-02 9.99525993e-01 -8.43483828e-04 -2.37104992e+00] [-1.46819253e-02 3.91747612e-04 9.99892138e-01 -2.83816311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50439141799998 meters 0.019561906995413287 Centerline is valid? [True, True] Translation: X:130.11, Y:-2.37, Z:-2.84 [[ 9.99229642e-01 3.58124828e-02 1.60495502e-02 1.30105350e+02] [-3.58022582e-02 9.99358466e-01 -9.24027790e-04 -2.36545688e+00] [-1.60723456e-02 3.48705816e-04 9.99870771e-01 -2.83809222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56439141799999 meters 0.019020452468230396 Centerline is valid? [True, True] Translation: X:130.17, Y:-2.37, Z:-2.84 [[ 9.99082228e-01 3.91263037e-02 1.74308276e-02 1.30166860e+02] [-3.91147331e-02 9.99234221e-01 -1.00436322e-03 -2.36573194e+00] [-1.74567765e-02 3.21639273e-04 9.99847567e-01 -2.83916373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624391418 meters 0.018219603105240716 Centerline is valid? [True, True] Translation: X:130.23, Y:-2.37, Z:-2.84 [[ 9.98991618e-01 4.14839759e-02 1.71705378e-02 1.30227478e+02] [-4.14730811e-02 9.99139131e-01 -9.90255851e-04 -2.36628411e+00] [-1.71968360e-02 2.77142186e-04 9.99852085e-01 -2.84100853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684391418 meters 0.017818785330911406 Centerline is valid? [True, True] Translation: X:130.29, Y:-2.37, Z:-2.84 [[ 9.98818090e-01 4.54870404e-02 1.71275189e-02 1.30287729e+02] [-4.54767884e-02 9.98964907e-01 -9.87774873e-04 -2.36542052e+00] [-1.71547213e-02 2.07702858e-04 9.99852825e-01 -2.84314000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744391418 meters 0.016357355423030615 Centerline is valid? [True, True] Translation: X:130.35, Y:-2.37, Z:-2.84 [[ 9.98772476e-01 4.65042692e-02 1.70556249e-02 1.30347693e+02] [-4.64942479e-02 9.98918073e-01 -9.83830930e-04 -2.36764283e+00] [-1.70829243e-02 1.89634801e-04 9.99854058e-01 -2.84344730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804391418 meters 0.01514409345102339 Centerline is valid? [True, True] Translation: X:130.41, Y:-2.37, Z:-2.84 [[ 9.98611996e-01 4.94994506e-02 1.79968149e-02 1.30407300e+02] [-4.94887929e-02 9.98774140e-01 -1.03734880e-03 -2.36769734e+00] [-1.80261015e-02 1.45268310e-04 9.99837506e-01 -2.84356247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864391418 meters 0.014955409077317855 Centerline is valid? [True, True] Translation: X:130.47, Y:-2.37, Z:-2.84 [[ 9.98576983e-01 5.00206553e-02 1.84917136e-02 1.30465703e+02] [-5.00095081e-02 9.98748174e-01 -1.06504049e-03 -2.37215032e+00] [-1.85218393e-02 1.38763412e-04 9.99828446e-01 -2.84457913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924391418 meters 0.015593068558926169 Centerline is valid? [True, True] Translation: X:130.52, Y:-2.38, Z:-2.85 [[ 9.98731317e-01 4.69893190e-02 1.81041451e-02 1.30524949e+02] [-4.69781496e-02 9.98895374e-01 -1.04198045e-03 -2.38006992e+00] [-1.81331088e-02 1.90159267e-04 9.99835564e-01 -2.84623818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984391418 meters 0.018691348045589425 Centerline is valid? [True, True] Translation: X:130.59, Y:-2.40, Z:-2.85 [[ 9.99082628e-01 3.90243349e-02 1.76353125e-02 1.30585646e+02] [-3.90125152e-02 9.99238208e-01 -1.01389213e-03 -2.39506826e+00] [-1.76614445e-02 3.24964120e-04 9.99843972e-01 -2.84847372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044391418 meters 0.02559690185661717 Centerline is valid? [True, True] Translation: X:130.65, Y:-2.41, Z:-2.85 [[ 9.99457145e-01 2.79030018e-02 1.75167915e-02 1.30645975e+02] [-2.78896182e-02 9.99610501e-01 -1.00791306e-03 -2.41289772e+00] [-1.75380925e-02 5.18829286e-04 9.99846061e-01 -2.85153289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10439141799998 meters 0.02817243291479016 Centerline is valid? [True, True] Translation: X:130.71, Y:-2.43, Z:-2.85 [[ 9.99645623e-01 1.95198694e-02 1.80997943e-02 1.30705567e+02] [-1.95041997e-02 9.99809232e-01 -1.04187719e-03 -2.42523107e+00] [-1.81166788e-02 6.88485975e-04 9.99835642e-01 -2.85043246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16439141799998 meters 0.0351112543653044 Centerline is valid? [True, True] Translation: X:130.77, Y:-2.44, Z:-2.85 [[ 9.99806156e-01 9.24170554e-03 1.73851005e-02 1.30766104e+02] [-9.22569532e-03 9.99956941e-01 -1.00089295e-03 -2.44237236e+00] [-1.73936019e-02 8.40309296e-04 9.99848367e-01 -2.85219745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22439141799998 meters 0.0346631231247909 Centerline is valid? [True, True] Translation: X:130.83, Y:-2.45, Z:-2.85 [[ 9.99847698e-01 4.44463224e-03 1.68768002e-02 1.30826895e+02] [-4.42885302e-03 9.99989720e-01 -9.72225514e-04 -2.44756597e+00] [-1.68809478e-02 8.97332575e-04 9.99857104e-01 -2.85361736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28439141799998 meters 0.0399531013148637 Centerline is valid? [True, True] Translation: X:130.89, Y:-2.46, Z:-2.86 [[ 9.99864477e-01 1.38982455e-03 1.64041747e-02 1.30886980e+02] [-1.37450191e-03 9.99998609e-01 -9.45307363e-04 -2.45903194e+00] [-1.64054657e-02 9.22631682e-04 9.99864996e-01 -2.85562518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344391418 meters 0.03749809770987809 Centerline is valid? [True, True] Translation: X:130.95, Y:-2.46, Z:-2.86 [[ 9.99873108e-01 1.63926002e-03 1.58455024e-02 1.30949970e+02] [-1.62502016e-03 9.99998264e-01 -9.11502489e-04 -2.45880631e+00] [-1.58469691e-02 8.85637566e-04 9.99874037e-01 -2.85715827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404391418 meters 0.03734542091717105 Centerline is valid? [True, True] Translation: X:131.01, Y:-2.46, Z:-2.86 [[ 9.99876480e-01 3.96488141e-03 1.52087009e-02 1.31010564e+02] [-3.95192672e-03 9.99991802e-01 -8.81754103e-04 -2.45992690e+00] [-1.52120723e-02 8.21541517e-04 9.99883952e-01 -2.85883612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464391418 meters 0.03239603037930092 Centerline is valid? [True, True] Translation: X:131.07, Y:-2.45, Z:-2.86 [[ 9.99877045e-01 6.99720266e-03 1.40332883e-02 1.31072564e+02] [-6.98646998e-03 9.99975263e-01 -8.13680242e-04 -2.45360984e+00] [-1.40386346e-02 7.15537049e-04 9.99901197e-01 -2.86064698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524391418 meters 0.03194297639947669 Centerline is valid? [True, True] Translation: X:131.13, Y:-2.45, Z:-2.86 [[ 9.99846730e-01 1.13371408e-02 1.33411213e-02 1.31132343e+02] [-1.13278147e-02 9.99935538e-01 -7.74405715e-04 -2.45168019e+00] [-1.33490409e-02 6.23161272e-04 9.99910703e-01 -2.86346785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584391418 meters 0.030303376718494094 Centerline is valid? [True, True] Translation: X:131.19, Y:-2.45, Z:-2.86 [[ 9.99810707e-01 1.46532210e-02 1.27997293e-02 1.31194363e+02] [-1.46449175e-02 9.99892482e-01 -7.42220042e-04 -2.45058951e+00] [-1.28092291e-02 5.54628565e-04 9.99917805e-01 -2.86378424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644391418 meters 0.02832577332884844 Centerline is valid? [True, True] Translation: X:131.26, Y:-2.45, Z:-2.87 [[ 9.99683102e-01 2.17329175e-02 1.27033434e-02 1.31255376e+02] [-2.17252910e-02 9.99763706e-01 -7.38055485e-04 -2.44575566e+00] [-1.27163818e-02 4.61837765e-04 9.99919037e-01 -2.86501224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704391418 meters 0.023834310329689048 Centerline is valid? [True, True] Translation: X:131.32, Y:-2.44, Z:-2.87 [[ 9.99559059e-01 2.69593277e-02 1.24451986e-02 1.31317433e+02] [-2.69524093e-02 9.99636456e-01 -7.23332094e-04 -2.43884985e+00] [-1.24601748e-02 3.87585061e-04 9.99922294e-01 -2.86524103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764391418 meters 0.01946011570455895 Centerline is valid? [True, True] Translation: X:131.38, Y:-2.43, Z:-2.86 [[ 9.99337475e-01 3.39872300e-02 1.30184185e-02 1.31379269e+02] [-3.39802388e-02 9.99422218e-01 -7.57906841e-04 -2.43128152e+00] [-1.30366558e-02 3.15035740e-04 9.99914970e-01 -2.86498418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824391418 meters 0.017918533739795055 Centerline is valid? [True, True] Translation: X:131.44, Y:-2.43, Z:-2.86 [[ 9.99154336e-01 3.84662114e-02 1.45245549e-02 1.31439436e+02] [-3.84579700e-02 9.99259860e-01 -8.46394012e-04 -2.42799140e+00] [-1.45463622e-02 2.87093352e-04 9.99894155e-01 -2.86493599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88439141799998 meters 0.018547616692887722 Centerline is valid? [True, True] Translation: X:131.50, Y:-2.43, Z:-2.87 [[ 9.99079243e-01 4.06218639e-02 1.38032672e-02 1.31498081e+02] [-4.06146333e-02 9.99174562e-01 -8.03860435e-04 -2.43099287e+00] [-1.38245277e-02 2.42505639e-04 9.99904407e-01 -2.86793464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94439141799998 meters 0.018557531257966844 Centerline is valid? [True, True] Translation: X:131.56, Y:-2.43, Z:-2.87 [[ 9.99049146e-01 4.16234405e-02 1.29727449e-02 1.31556926e+02] [-4.16171423e-02 9.99133346e-01 -7.55193661e-04 -2.43276053e+00] [-1.29929358e-02 2.14587012e-04 9.99915565e-01 -2.87036650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00439141799998 meters 0.018404012046181382 Centerline is valid? [True, True] Translation: X:131.62, Y:-2.44, Z:-2.87 [[ 9.99106377e-01 4.04717816e-02 1.21853271e-02 1.31615986e+02] [-4.04661489e-02 9.99180659e-01 -7.08553584e-04 -2.43602741e+00] [-1.22040196e-02 2.14827142e-04 9.99925505e-01 -2.87141065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06439141799999 meters 0.018204010337135555 Centerline is valid? [True, True] Translation: X:131.68, Y:-2.44, Z:-2.87 [[ 9.99234855e-01 3.71719309e-02 1.21635921e-02 1.31675243e+02] [-3.71660821e-02 9.99308853e-01 -7.06613965e-04 -2.43964844e+00] [-1.21814515e-02 2.54000240e-04 9.99925771e-01 -2.87104392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124391418 meters 0.020055734369969012 Centerline is valid? [True, True] Translation: X:131.73, Y:-2.45, Z:-2.87 [[ 9.99315343e-01 3.48367246e-02 1.24598893e-02 1.31734099e+02] [-3.48304159e-02 9.99392975e-01 -7.23023597e-04 -2.44716273e+00] [-1.24775137e-02 2.88545445e-04 9.99922111e-01 -2.87312931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184391418 meters 0.02179933339187813 Centerline is valid? [True, True] Translation: X:131.79, Y:-2.45, Z:-2.88 [[ 9.99370279e-01 3.36270448e-02 1.13254740e-02 1.31793552e+02] [-3.36217573e-02 9.99434413e-01 -6.56997678e-04 -2.45450925e+00] [-1.13411613e-02 2.75801616e-04 9.99935649e-01 -2.87638146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244391418 meters 0.01868160219109276 Centerline is valid? [True, True] Translation: X:131.85, Y:-2.45, Z:-2.88 [[ 9.99290524e-01 3.61492287e-02 1.05679828e-02 1.31852982e+02] [-3.61447651e-02 9.99346376e-01 -6.13126444e-04 -2.45313900e+00] [-1.05832394e-02 2.30714189e-04 9.99943969e-01 -2.87612397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304391418 meters 0.016744632839594514 Centerline is valid? [True, True] Translation: X:131.91, Y:-2.45, Z:-2.88 [[ 9.99067255e-01 4.18130267e-02 1.07838473e-02 1.31912796e+02] [-4.18087136e-02 9.99125438e-01 -6.25190468e-04 -2.45241382e+00] [-1.08005573e-02 1.73748540e-04 9.99941657e-01 -2.87654003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364391418 meters 0.016627448112594076 Centerline is valid? [True, True] Translation: X:131.97, Y:-2.46, Z:-2.88 [[ 9.98912140e-01 4.53452548e-02 1.08786277e-02 1.31971543e+02] [-4.53410744e-02 9.98971366e-01 -6.30728110e-04 -2.45608330e+00] [-1.08960381e-02 1.36793297e-04 9.99940627e-01 -2.87937579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424391418 meters 0.015979554336546978 Centerline is valid? [True, True] Translation: X:132.03, Y:-2.46, Z:-2.88 [[ 9.98809870e-01 4.77417199e-02 9.97854186e-03 1.32030040e+02] [-4.77383291e-02 9.98859709e-01 -5.77857364e-04 -2.45829642e+00] [-9.99475132e-03 1.00810723e-04 9.99950046e-01 -2.88164050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484391418 meters 0.01656568402366296 Centerline is valid? [True, True] Translation: X:132.09, Y:-2.46, Z:-2.88 [[ 9.98890353e-01 4.62110670e-02 9.08846505e-03 1.32088836e+02] [-4.62081963e-02 9.98931692e-01 -5.25700440e-04 -2.46368119e+00] [-9.10304895e-03 1.05155521e-04 9.99958561e-01 -2.88402280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544391418 meters 0.017155611424000405 Centerline is valid? [True, True] Translation: X:132.15, Y:-2.47, Z:-2.88 [[ 9.99052416e-01 4.27171244e-02 8.33772319e-03 1.32146996e+02] [-4.27145884e-02 9.99087199e-01 -4.82076285e-04 -2.46915843e+00] [-8.35070542e-03 1.25477062e-04 9.99965124e-01 -2.88475120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60439141799998 meters 0.021507340563688956 Centerline is valid? [True, True] Translation: X:132.20, Y:-2.48, Z:-2.89 [[ 9.99368591e-01 3.45756442e-02 8.18193207e-03 1.32204589e+02] [-3.45729389e-02 9.99402066e-01 -4.71891648e-04 -2.48154204e+00] [-8.19335577e-03 1.88720254e-04 9.99966416e-01 -2.88661142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66439141799998 meters 0.021413016098491503 Centerline is valid? [True, True] Translation: X:132.26, Y:-2.49, Z:-2.89 [[ 9.99473340e-01 3.13287548e-02 8.45886851e-03 1.32263815e+02] [-3.13257588e-02 9.99509110e-01 -4.86479710e-04 -2.48509745e+00] [-8.46995694e-03 2.21243026e-04 9.99964105e-01 -2.88615806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72439141799998 meters 0.02528846273649925 Centerline is valid? [True, True] Translation: X:132.32, Y:-2.49, Z:-2.89 [[ 9.99656452e-01 2.48407604e-02 8.36153116e-03 1.32323982e+02] [-2.48376137e-02 9.99691384e-01 -4.79984594e-04 -2.49462995e+00] [-8.37087383e-03 2.72139216e-04 9.99964927e-01 -2.88705803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78439141799998 meters 0.032137495380088234 Centerline is valid? [True, True] Translation: X:132.38, Y:-2.51, Z:-2.89 [[ 9.99858512e-01 1.39676914e-02 9.37337549e-03 1.32383731e+02] [-1.39632602e-02 9.99902364e-01 -5.38026549e-04 -2.50795191e+00] [-9.37997531e-03 4.07067544e-04 9.99955924e-01 -2.88823582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844391418 meters 0.0354335625803336 Centerline is valid? [True, True] Translation: X:132.44, Y:-2.51, Z:-2.89 [[ 9.99939799e-01 3.14224018e-03 1.05130906e-02 1.32443894e+02] [-3.13606820e-03 9.99994900e-01 -6.03509819e-04 -2.51350070e+00] [-1.05149333e-02 5.70503718e-04 9.99944554e-01 -2.88713363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904391418 meters 0.042653358450425165 Centerline is valid? [True, True] Translation: X:132.50, Y:-2.52, Z:-2.89 [[ 9.99929849e-01 -4.94342207e-03 1.07638238e-02 1.32503655e+02] [ 4.95035451e-03 9.99987556e-01 -6.17501956e-04 -2.52165550e+00] [-1.07606373e-02 6.70743382e-04 9.99941878e-01 -2.88791716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964391418 meters 0.04598750541347034 Centerline is valid? [True, True] Translation: X:132.56, Y:-2.53, Z:-2.89 [[ 9.99899658e-01 -8.97969126e-03 1.09562634e-02 1.32564186e+02] [ 8.98712388e-03 9.99959417e-01 -6.29344124e-04 -2.52568532e+00] [-1.09501675e-02 7.27746271e-04 9.99939780e-01 -2.88922937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024391418 meters 0.048033704498673946 Centerline is valid? [True, True] Translation: X:132.63, Y:-2.52, Z:-2.89 [[ 9.99866009e-01 -1.18783755e-02 1.12635859e-02 1.32625091e+02] [ 1.18864132e-02 9.99929145e-01 -6.46924843e-04 -2.52426491e+00] [-1.12551034e-02 7.80721797e-04 9.99936355e-01 -2.88968284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084391418 meters 0.04977623615542633 Centerline is valid? [True, True] Translation: X:132.69, Y:-2.52, Z:-2.89 [[ 9.99876634e-01 -1.16219727e-02 1.05662538e-02 1.32687255e+02] [ 1.16290244e-02 9.99932197e-01 -6.06178863e-04 -2.52137397e+00] [-1.05584924e-02 7.28979304e-04 9.99943992e-01 -2.89192932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144391418 meters 0.04966496674041252 Centerline is valid? [True, True] Translation: X:132.75, Y:-2.52, Z:-2.89 [[ 9.99900356e-01 -9.27455104e-03 1.06424406e-02 1.32748827e+02] [ 9.28159039e-03 9.99956738e-01 -6.12240080e-04 -2.51860499e+00] [-1.06363020e-02 7.10957849e-04 9.99943180e-01 -2.89379064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204391418 meters 0.047462172008311855 Centerline is valid? [True, True] Translation: X:132.81, Y:-2.51, Z:-2.90 [[ 9.99928648e-01 -5.62326779e-03 1.05393839e-02 1.32810236e+02] [ 5.62997584e-03 9.99983967e-01 -6.06913430e-04 -2.51255505e+00] [-1.05358021e-02 6.66206602e-04 9.99944275e-01 -2.89509921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264391418 meters 0.03709770468488373 Centerline is valid? [True, True] Translation: X:132.87, Y:-2.49, Z:-2.90 [[ 9.99947263e-01 2.22100989e-03 1.00268614e-02 1.32872316e+02] [-2.21532968e-03 9.99997379e-01 -5.77570390e-04 -2.49036265e+00] [-1.00281179e-02 5.55327127e-04 9.99949563e-01 -2.89501321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324391418 meters 0.03904072659228988 Centerline is valid? [True, True] Translation: X:132.93, Y:-2.49, Z:-2.90 [[ 9.99872777e-01 1.15114392e-02 1.10416066e-02 1.32932432e+02] [-1.15051110e-02 9.99933611e-01 -6.36475956e-04 -2.48552846e+00] [-1.10482003e-02 5.09360072e-04 9.99938837e-01 -2.89700628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38439141799998 meters 0.02515430037226504 Centerline is valid? [True, True] Translation: X:132.99, Y:-2.46, Z:-2.89 [[ 9.99711608e-01 2.10704729e-02 1.15210865e-02 1.32994502e+02] [-2.10642170e-02 9.99777904e-01 -6.64085340e-04 -2.46005446e+00] [-1.15325203e-02 4.21211157e-04 9.99933410e-01 -2.89409438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44439141799998 meters 0.02053251705673165 Centerline is valid? [True, True] Translation: X:133.06, Y:-2.45, Z:-2.89 [[ 9.99481466e-01 3.00871431e-02 1.14701206e-02 1.33055609e+02] [-3.00815351e-02 9.99547230e-01 -6.61175521e-04 -2.44710236e+00] [-1.14848202e-02 3.15793843e-04 9.99933997e-01 -2.89474935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50439141799998 meters 0.01978852937447812 Centerline is valid? [True, True] Translation: X:133.11, Y:-2.44, Z:-2.90 [[ 9.99323818e-01 3.50474958e-02 1.11166489e-02 1.33114559e+02] [-3.50425313e-02 9.99385616e-01 -6.41114016e-04 -2.44443872e+00] [-1.11322885e-02 2.51124988e-04 9.99938003e-01 -2.89683160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56439141799999 meters 0.018051362124554663 Centerline is valid? [True, True] Translation: X:133.17, Y:-2.44, Z:-2.90 [[ 9.99110248e-01 4.07436576e-02 1.08933797e-02 1.33172499e+02] [-4.07392262e-02 9.99169615e-01 -6.28480809e-04 -2.43863184e+00] [-1.09099406e-02 1.84133758e-04 9.99940468e-01 -2.89851527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624391418 meters 0.01737593737499266 Centerline is valid? [True, True] Translation: X:133.23, Y:-2.44, Z:-2.90 [[ 9.99049365e-01 4.23730395e-02 1.02417182e-02 1.33231613e+02] [-4.23692191e-02 9.99101847e-01 -5.89805426e-04 -2.43585214e+00] [-1.02575114e-02 1.55311134e-04 9.99947378e-01 -2.89987290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684391418 meters 0.017192554275086445 Centerline is valid? [True, True] Translation: X:133.29, Y:-2.44, Z:-2.90 [[ 9.99101482e-01 4.11718955e-02 1.00550020e-02 1.33290136e+02] [-4.11681596e-02 9.99152065e-01 -5.78331180e-04 -2.43714413e+00] [-1.00702870e-02 1.63865612e-04 9.99949280e-01 -2.90052678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744391418 meters 0.018966632487382232 Centerline is valid? [True, True] Translation: X:133.35, Y:-2.44, Z:-2.90 [[ 9.99295293e-01 3.61264077e-02 1.01882102e-02 1.33348764e+02] [-3.61223188e-02 9.99347205e-01 -5.85127466e-04 -2.44221861e+00] [-1.02026979e-02 2.16693346e-04 9.99947928e-01 -2.90169415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804391418 meters 0.021030791370909224 Centerline is valid? [True, True] Translation: X:133.41, Y:-2.45, Z:-2.90 [[ 9.99487482e-01 3.05724626e-02 9.49202907e-03 1.33407723e+02] [-3.05686714e-02 9.99532521e-01 -5.44265964e-04 -2.44936817e+00] [-9.50423129e-03 2.53828300e-04 9.99954802e-01 -2.90383090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864391418 meters 0.02651390614546036 Centerline is valid? [True, True] Translation: X:133.47, Y:-2.46, Z:-2.91 [[ 9.99759417e-01 2.00819259e-02 8.82182380e-03 1.33466648e+02] [-2.00782516e-02 9.99798284e-01 -5.04875155e-04 -2.46195912e+00] [-8.83018316e-03 3.27626892e-04 9.99960960e-01 -2.90527194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924391418 meters 0.031531307617866086 Centerline is valid? [True, True] Translation: X:133.53, Y:-2.47, Z:-2.91 [[ 9.99901416e-01 1.12366900e-02 8.41991435e-03 1.33526546e+02] [-1.12330334e-02 9.99936792e-01 -4.81441675e-04 -2.47309035e+00] [-8.42479195e-03 3.86813033e-04 9.99964436e-01 -2.90645155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984391418 meters 0.031038044437137216 Centerline is valid? [True, True] Translation: X:133.59, Y:-2.48, Z:-2.91 [[ 9.99946010e-01 7.01456975e-03 7.66631021e-03 1.33587322e+02] [-7.01141685e-03 9.99975324e-01 -4.38066692e-04 -2.47539708e+00] [-7.66919389e-03 3.84291345e-04 9.99970517e-01 -2.90686064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044391418 meters 0.032134707977745015 Centerline is valid? [True, True] Translation: X:133.65, Y:-2.48, Z:-2.91 [[ 9.99954471e-01 5.99993472e-03 7.42005772e-03 1.33649235e+02] [-5.99698111e-03 9.99981930e-01 -4.20243212e-04 -2.47999043e+00] [-7.42244506e-03 3.75726133e-04 9.99972383e-01 -2.90849704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10439141799998 meters 0.03195148784352375 Centerline is valid? [True, True] Translation: X:133.71, Y:-2.48, Z:-2.91 [[ 9.99947174e-01 7.54697989e-03 6.97803941e-03 1.33711280e+02] [-7.54439365e-03 9.99971462e-01 -3.96874923e-04 -2.48232615e+00] [-6.98083548e-03 3.44208881e-04 9.99975574e-01 -2.90974555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16439141799998 meters 0.031951729407131306 Centerline is valid? [True, True] Translation: X:133.77, Y:-2.48, Z:-2.91 [[ 9.99924336e-01 9.97720069e-03 7.19568097e-03 1.33772025e+02] [-9.97447113e-03 9.99950168e-01 -4.15121205e-04 -2.48341922e+00] [-7.19946414e-03 3.43316684e-04 9.99974025e-01 -2.91080888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22439141799998 meters 0.02900315605112311 Centerline is valid? [True, True] Translation: X:133.83, Y:-2.48, Z:-2.91 [[ 9.99899429e-01 1.22486085e-02 7.14862498e-03 1.33833678e+02] [-1.22459705e-02 9.99924930e-01 -4.12671882e-04 -2.48085348e+00] [-7.15314299e-03 3.25088529e-04 9.99974363e-01 -2.91156217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28439141799998 meters 0.02870404362539214 Centerline is valid? [True, True] Translation: X:133.89, Y:-2.48, Z:-2.91 [[ 9.99877489e-01 1.42699589e-02 6.43240697e-03 1.33893927e+02] [-1.42678596e-02 9.99898140e-01 -3.72144724e-04 -2.48221999e+00] [-6.43706225e-03 2.80322453e-04 9.99979243e-01 -2.91379791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344391418 meters 0.027022458864395513 Centerline is valid? [True, True] Translation: X:133.95, Y:-2.48, Z:-2.91 [[ 9.99829102e-01 1.72364360e-02 6.68371896e-03 1.33953625e+02] [-1.72342314e-02 9.99851405e-01 -3.87304001e-04 -2.48060973e+00] [-6.68940153e-03 2.72049052e-04 9.99977589e-01 -2.91447975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404391418 meters 0.025865649338445186 Centerline is valid? [True, True] Translation: X:134.01, Y:-2.48, Z:-2.91 [[ 9.99778470e-01 1.96839789e-02 7.45334437e-03 1.34013966e+02] [-1.96813065e-02 9.99806211e-01 -4.31727891e-04 -2.47974243e+00] [-7.46039811e-03 2.84940695e-04 9.99972130e-01 -2.91463126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464391418 meters 0.02590243088637597 Centerline is valid? [True, True] Translation: X:134.07, Y:-2.48, Z:-2.92 [[ 9.99745189e-01 2.06836384e-02 9.04127805e-03 1.34073513e+02] [-2.06797558e-02 9.99786014e-01 -5.22719743e-04 -2.48222986e+00] [-9.05015509e-03 3.35615126e-04 9.99958990e-01 -2.91521853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524391418 meters 0.025668613977287074 Centerline is valid? [True, True] Translation: X:134.13, Y:-2.48, Z:-2.92 [[ 9.99712157e-01 2.15755110e-02 1.04928900e-02 1.34132961e+02] [-2.15703364e-02 9.99767150e-01 -6.06085789e-04 -2.48386336e+00] [-1.05035234e-02 3.79576164e-04 9.99944764e-01 -2.91576635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584391418 meters 0.024909603626209417 Centerline is valid? [True, True] Translation: X:134.19, Y:-2.49, Z:-2.92 [[ 9.99691914e-01 2.20997158e-02 1.12995633e-02 1.34192908e+02] [-2.20937542e-02 9.99755691e-01 -6.52174636e-04 -2.48585475e+00] [-1.13112156e-02 4.02323936e-04 9.99935945e-01 -2.91668792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644391418 meters 0.02374691852682118 Centerline is valid? [True, True] Translation: X:134.25, Y:-2.49, Z:-2.92 [[ 9.99618300e-01 2.44687113e-02 1.28271840e-02 1.34252391e+02] [-2.44612315e-02 9.99700506e-01 -7.39714381e-04 -2.48642409e+00] [-1.28414422e-02 4.25663315e-04 9.99917455e-01 -2.91766220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704391418 meters 0.022191739484573814 Centerline is valid? [True, True] Translation: X:134.31, Y:-2.49, Z:-2.92 [[ 9.99558416e-01 2.62044955e-02 1.40106113e-02 1.34312352e+02] [-2.61957509e-02 9.99656506e-01 -8.07330192e-04 -2.48738878e+00] [-1.40269545e-02 4.39955205e-04 9.99901521e-01 -2.91860623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764391418 meters 0.0217907764980188 Centerline is valid? [True, True] Translation: X:134.37, Y:-2.49, Z:-2.92 [[ 9.99488286e-01 2.76128590e-02 1.61460639e-02 1.34372105e+02] [-2.76014416e-02 9.99618575e-01 -9.29588665e-04 -2.49140029e+00] [-1.61655740e-02 4.83458342e-04 9.99869212e-01 -2.92007326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824391418 meters 0.021111768836002184 Centerline is valid? [True, True] Translation: X:134.43, Y:-2.49, Z:-2.92 [[ 9.99364593e-01 3.08803543e-02 1.77992714e-02 1.34431017e+02] [-3.08670110e-02 9.99522976e-01 -1.02396179e-03 -2.49467958e+00] [-1.78224010e-02 4.73900851e-04 9.99841056e-01 -2.92193186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88439141799998 meters 0.01826478918241196 Centerline is valid? [True, True] Translation: X:134.49, Y:-2.49, Z:-2.92 [[ 9.99228808e-01 3.48271231e-02 1.81345271e-02 1.34490707e+02] [-3.48139349e-02 9.99393267e-01 -1.04252441e-03 -2.49327969e+00] [-1.81598324e-02 4.10386177e-04 9.99835012e-01 -2.92322766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94439141799998 meters 0.01648224012619401 Centerline is valid? [True, True] Translation: X:134.55, Y:-2.49, Z:-2.92 [[ 9.98919284e-01 4.21985016e-02 1.94820613e-02 1.34549694e+02] [-4.21846981e-02 9.99109203e-01 -1.11912322e-03 -2.49491535e+00] [-1.95119320e-02 2.96068891e-04 9.99809580e-01 -2.92490310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00439141799998 meters 0.014978342233064806 Centerline is valid? [True, True] Translation: X:134.61, Y:-2.50, Z:-2.93 [[ 9.98667312e-01 4.75152274e-02 2.01470308e-02 1.34608319e+02] [-4.75015623e-02 9.98870494e-01 -1.15655251e-03 -2.49687262e+00] [-2.01792285e-02 1.97995743e-04 9.99796359e-01 -2.92719966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06439141799999 meters 0.014648124037970625 Centerline is valid? [True, True] Translation: X:134.67, Y:-2.50, Z:-2.93 [[ 9.98620573e-01 4.84230172e-02 2.03017944e-02 1.34667088e+02] [-4.84093615e-02 9.98826902e-01 -1.16383748e-03 -2.50222428e+00] [-2.03343350e-02 1.79435145e-04 9.99793220e-01 -2.92934859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124391418 meters 0.014729609748843735 Centerline is valid? [True, True] Translation: X:134.73, Y:-2.51, Z:-2.93 [[ 9.98694380e-01 4.66609159e-02 2.07916939e-02 1.34725268e+02] [-4.66462470e-02 9.98910762e-01 -1.19020207e-03 -2.51225019e+00] [-2.08245827e-02 2.18793632e-04 9.99783121e-01 -2.93152744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184391418 meters 0.01568282038062359 Centerline is valid? [True, True] Translation: X:134.78, Y:-2.52, Z:-2.93 [[ 9.98855577e-01 4.27074242e-02 2.15316365e-02 1.34783587e+02] [-4.26908140e-02 9.99087574e-01 -1.23070481e-03 -2.52414316e+00] [-2.15645507e-02 3.10093278e-04 9.99767410e-01 -2.93279073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244391418 meters 0.01789649271378273 Centerline is valid? [True, True] Translation: X:134.84, Y:-2.54, Z:-2.93 [[ 9.99071524e-01 3.67382157e-02 2.25032075e-02 1.34841963e+02] [-3.67186017e-02 9.99324819e-01 -1.28432376e-03 -2.53881946e+00] [-2.25351976e-02 4.56844977e-04 9.99745946e-01 -2.93429257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304391418 meters 0.020576585442170708 Centerline is valid? [True, True] Translation: X:134.90, Y:-2.55, Z:-2.94 [[ 9.99244711e-01 3.19422406e-02 2.21291672e-02 1.34901254e+02] [-3.19221268e-02 9.99489563e-01 -1.26166726e-03 -2.55125171e+00] [-2.21581721e-02 5.54304254e-04 9.99754324e-01 -2.93615843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364391418 meters 0.022466842994223746 Centerline is valid? [True, True] Translation: X:134.96, Y:-2.56, Z:-2.94 [[ 9.99404485e-01 2.56605583e-02 2.30697136e-02 1.34961430e+02] [-2.56370244e-02 9.99670452e-01 -1.31535209e-03 -2.56364839e+00] [-2.30958637e-02 7.23129969e-04 9.99732993e-01 -2.93757588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424391418 meters 0.024677018454194847 Centerline is valid? [True, True] Translation: X:135.02, Y:-2.57, Z:-2.94 [[ 9.99517533e-01 2.06656283e-02 2.31869310e-02 1.35021874e+02] [-2.06404820e-02 9.99786087e-01 -1.32333262e-03 -2.57494595e+00] [-2.32093185e-02 8.44104723e-04 9.99730271e-01 -2.93897594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484391418 meters 0.02696754194873615 Centerline is valid? [True, True] Translation: X:135.08, Y:-2.58, Z:-2.94 [[ 9.99581073e-01 1.78442791e-02 2.27873001e-02 1.35083141e+02] [-1.78192457e-02 9.99840378e-01 -1.30116584e-03 -2.58454178e+00] [-2.28068811e-02 8.94568250e-04 9.99739489e-01 -2.94107578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544391418 meters 0.03188841788954726 Centerline is valid? [True, True] Translation: X:135.14, Y:-2.60, Z:-2.94 [[ 9.99647646e-01 1.22421480e-02 2.35523626e-02 1.35143669e+02] [-1.22137127e-02 9.99924497e-01 -1.35080069e-03 -2.59599879e+00] [-2.35671210e-02 1.06266294e-03 9.99721692e-01 -2.94257387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60439141799998 meters 0.035223720994826443 Centerline is valid? [True, True] Translation: X:135.20, Y:-2.61, Z:-2.94 [[ 9.99714700e-01 7.08302004e-03 2.28111725e-02 1.35202774e+02] [-7.05499727e-03 9.99974257e-01 -1.30871038e-03 -2.60652912e+00] [-2.28198549e-02 1.14740425e-03 9.99738935e-01 -2.94327833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66439141799998 meters 0.0357971245150897 Centerline is valid? [True, True] Translation: X:135.26, Y:-2.61, Z:-2.95 [[ 9.99755649e-01 1.01218124e-03 2.20820792e-02 1.35262873e+02] [-9.84445415e-04 9.99998713e-01 -1.26686788e-03 -2.61254699e+00] [-2.20833331e-02 1.24481972e-03 9.99755358e-01 -2.94564921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72439141799998 meters 0.040734677603868945 Centerline is valid? [True, True] Translation: X:135.32, Y:-2.62, Z:-2.95 [[ 9.99756868e-01 -3.57908792e-03 2.17576355e-02 1.35321563e+02] [ 3.60709968e-03 9.99992715e-01 -1.24833564e-03 -2.62263798e+00] [-2.17530091e-02 1.32651409e-03 9.99762495e-01 -2.94739638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78439141799998 meters 0.044688798716843024 Centerline is valid? [True, True] Translation: X:135.38, Y:-2.63, Z:-2.95 [[ 9.99784947e-01 -5.36997871e-03 2.00305725e-02 1.35381897e+02] [ 5.39406571e-03 9.99984792e-01 -1.14867657e-03 -2.63162461e+00] [-2.00240995e-02 1.25647576e-03 9.99798708e-01 -2.95024595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844391418 meters 0.04001357082056787 Centerline is valid? [True, True] Translation: X:135.44, Y:-2.63, Z:-2.95 [[ 9.99811025e-01 -5.10704847e-03 1.87571831e-02 1.35444191e+02] [ 5.12817118e-03 9.99986270e-01 -1.07818599e-03 -2.62740433e+00] [-1.87514192e-02 1.17417228e-03 9.99823487e-01 -2.95209188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904391418 meters 0.038208420765795906 Centerline is valid? [True, True] Translation: X:135.50, Y:-2.62, Z:-2.95 [[ 9.99791190e-01 5.29796673e-04 2.04278298e-02 1.35504169e+02] [-5.05875016e-04 9.99999180e-01 -1.17618246e-03 -2.62386211e+00] [-2.04284362e-02 1.16560293e-03 9.99790638e-01 -2.95132570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964391418 meters 0.036269839685839994 Centerline is valid? [True, True] Translation: X:135.56, Y:-2.62, Z:-2.95 [[ 9.99743934e-01 7.38418797e-03 2.13902034e-02 1.35564193e+02] [-7.35953234e-03 9.99972160e-01 -1.23115151e-03 -2.62162498e+00] [-2.13986990e-02 1.07341436e-03 9.99770445e-01 -2.95197106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024391418 meters 0.026558931923348062 Centerline is valid? [True, True] Translation: X:135.63, Y:-2.61, Z:-2.95 [[ 9.99561887e-01 2.03870654e-02 2.14569632e-02 1.35626279e+02] [-2.03652543e-02 9.99791844e-01 -1.23455062e-03 -2.60626920e+00] [-2.14776657e-02 7.97033230e-04 9.99769011e-01 -2.95266841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084391418 meters 0.022336945664080652 Centerline is valid? [True, True] Translation: X:135.69, Y:-2.60, Z:-2.95 [[ 9.99322381e-01 2.99824877e-02 2.13501730e-02 1.35687656e+02] [-2.99630755e-02 9.99550251e-01 -1.22861699e-03 -2.59924060e+00] [-2.13774078e-02 5.88067608e-04 9.99771304e-01 -2.95382687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144391418 meters 0.016409194151531047 Centerline is valid? [True, True] Translation: X:135.75, Y:-2.59, Z:-2.96 [[ 9.98835206e-01 4.39199739e-02 1.99816884e-02 1.35749418e+02] [-4.39057562e-02 9.99035016e-01 -1.14989149e-03 -2.58679282e+00] [-2.00129096e-02 2.71240959e-04 9.99799685e-01 -2.95599444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204391418 meters 0.015410526372900128 Centerline is valid? [True, True] Translation: X:135.81, Y:-2.58, Z:-2.96 [[ 9.98347733e-01 5.48128285e-02 1.72440503e-02 1.35809315e+02] [-5.48038566e-02 9.98496646e-01 -9.92770627e-04 -2.57841648e+00] [-1.72725430e-02 4.60898452e-05 9.99850817e-01 -2.95927092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264391418 meters 0.014618761193974308 Centerline is valid? [True, True] Translation: X:135.87, Y:-2.57, Z:-2.96 [[ 9.97977371e-01 6.13618982e-02 1.66097808e-02 1.35867263e+02] [-6.13544933e-02 9.98115581e-01 -9.55508137e-04 -2.57446725e+00] [-1.66371128e-02 -6.55091866e-05 9.99861592e-01 -2.96059690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324391418 meters 0.014809016175177074 Centerline is valid? [True, True] Translation: X:135.93, Y:-2.58, Z:-2.96 [[ 9.97880643e-01 6.28236929e-02 1.69530701e-02 1.35926366e+02] [-6.28162206e-02 9.98024636e-01 -9.73433504e-04 -2.57567548e+00] [-1.69807363e-02 -9.35573390e-05 9.99855813e-01 -2.96121070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38439141799998 meters 0.014431330043655025 Centerline is valid? [True, True] Translation: X:135.98, Y:-2.58, Z:-2.96 [[ 9.98070829e-01 5.97495091e-02 1.68705690e-02 1.35984926e+02] [-5.97416922e-02 9.98213401e-01 -9.67392879e-04 -2.58172695e+00] [-1.68982293e-02 -4.23497270e-05 9.99857214e-01 -2.96263536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44439141799998 meters 0.014305707243455453 Centerline is valid? [True, True] Translation: X:136.04, Y:-2.59, Z:-2.96 [[ 9.98238052e-01 5.69173968e-02 1.67690495e-02 1.36041928e+02] [-5.69092906e-02 9.98378891e-01 -9.60582808e-04 -2.58716798e+00] [-1.67965389e-02 4.57560121e-06 9.99858928e-01 -2.96379836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50439141799998 meters 0.01604774928062483 Centerline is valid? [True, True] Translation: X:136.10, Y:-2.60, Z:-2.96 [[ 9.98886832e-01 4.39018435e-02 1.72547250e-02 1.36100188e+02] [-4.38913634e-02 9.99035823e-01 -9.85783888e-04 -2.60247097e+00] [-1.72813662e-02 2.27353138e-04 9.99850640e-01 -2.96396926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56439141799999 meters 0.02341547866092387 Centerline is valid? [True, True] Translation: X:136.16, Y:-2.62, Z:-2.97 [[ 9.99485039e-01 2.70539469e-02 1.72551720e-02 1.36158135e+02] [-2.70409842e-02 9.99633841e-01 -9.84153185e-04 -2.62470086e+00] [-1.72754791e-02 5.17049550e-04 9.99850634e-01 -2.96530003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624391418 meters 0.029598597436178733 Centerline is valid? [True, True] Translation: X:136.22, Y:-2.64, Z:-2.97 [[ 9.99719269e-01 1.63301886e-02 1.71670616e-02 1.36218438e+02] [-1.63157883e-02 9.99866410e-01 -9.78561139e-04 -2.64075934e+00] [-1.71807484e-02 6.98192283e-04 9.99852156e-01 -2.96738157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684391418 meters 0.03664591544523452 Centerline is valid? [True, True] Translation: X:136.28, Y:-2.66, Z:-2.97 [[ 9.99862723e-01 3.64276537e-03 1.61637082e-02 1.36277837e+02] [-3.62833627e-03 9.99992993e-01 -9.21920821e-04 -2.65753127e+00] [-1.61669533e-02 8.63146894e-04 9.99868934e-01 -2.96971081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744391418 meters 0.041293643144126195 Centerline is valid? [True, True] Translation: X:136.34, Y:-2.67, Z:-2.97 [[ 9.99880107e-01 -1.71110058e-03 1.53897134e-02 1.36337242e+02] [ 1.72481645e-03 9.99998127e-01 -8.78006976e-04 -2.66871105e+00] [-1.53881823e-02 9.04446140e-04 9.99881186e-01 -2.97214579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804391418 meters 0.04661877807709095 Centerline is valid? [True, True] Translation: X:136.40, Y:-2.68, Z:-2.98 [[ 9.99878024e-01 -7.40420292e-03 1.37518786e-02 1.36396008e+02] [ 7.41568830e-03 9.99972196e-01 -7.84381039e-04 -2.67965444e+00] [-1.37456885e-02 8.86265009e-04 9.99905131e-01 -2.97516504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864391418 meters 0.04926305346219362 Centerline is valid? [True, True] Translation: X:136.46, Y:-2.69, Z:-2.98 [[ 9.99869933e-01 -9.74358500e-03 1.28522506e-02 1.36456851e+02] [ 9.75380271e-03 9.99952162e-01 -7.32569394e-04 -2.68555264e+00] [-1.28444980e-02 8.57832428e-04 9.99917138e-01 -2.97675563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924391418 meters 0.05292770517193951 Centerline is valid? [True, True] Translation: X:136.52, Y:-2.69, Z:-2.98 [[ 9.99855873e-01 -1.21766345e-02 1.18305609e-02 1.36516800e+02] [ 1.21854662e-02 9.99925527e-01 -6.74710659e-04 -2.69112885e+00] [-1.18214641e-02 8.18774314e-04 9.99929789e-01 -2.97878567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984391418 meters 0.05495092210109288 Centerline is valid? [True, True] Translation: X:136.58, Y:-2.69, Z:-2.98 [[ 9.99870156e-01 -1.25498736e-02 1.01080424e-02 1.36578283e+02] [ 1.25563239e-02 9.99921001e-01 -5.74928017e-04 -2.69402387e+00] [-1.01000286e-02 7.01773221e-04 9.99948747e-01 -2.98267492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044391418 meters 0.053661263563023524 Centerline is valid? [True, True] Translation: X:136.64, Y:-2.69, Z:-2.98 [[ 9.99904342e-01 -1.01409633e-02 9.40568900e-03 1.36640491e+02] [ 1.01464609e-02 9.99948379e-01 -5.36961390e-04 -2.69083016e+00] [-9.39975817e-03 6.32344481e-04 9.99955621e-01 -2.98413578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10439141799998 meters 0.04088694298842547 Centerline is valid? [True, True] Translation: X:136.70, Y:-2.67, Z:-2.98 [[ 9.99950764e-01 -5.35489612e-03 8.35428100e-03 1.36702720e+02] [ 5.35907490e-03 9.99985526e-01 -4.77889688e-04 -2.67110604e+00] [-8.35160103e-03 5.22637376e-04 9.99964988e-01 -2.98190070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16439141799998 meters 0.04837978535070204 Centerline is valid? [True, True] Translation: X:136.76, Y:-2.68, Z:-2.99 [[ 9.99962663e-01 -6.98519732e-04 8.61302089e-03 1.36762151e+02] [ 7.02792295e-04 9.99999631e-01 -4.93041906e-04 -2.68026676e+00] [-8.61267332e-03 4.99076662e-04 9.99962786e-01 -2.98592497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22439141799998 meters 0.036760076725219026 Centerline is valid? [True, True] Translation: X:136.82, Y:-2.66, Z:-2.98 [[ 9.99917695e-01 8.87111572e-03 9.26860603e-03 1.36823788e+02] [-8.86658259e-03 9.99960551e-01 -5.30062193e-04 -2.66187603e+00] [-9.27294263e-03 4.47837705e-04 9.99956905e-01 -2.98418487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28439141799998 meters 0.026969345454811767 Centerline is valid? [True, True] Translation: X:136.89, Y:-2.65, Z:-2.98 [[ 9.99819726e-01 1.62174027e-02 9.87474552e-03 1.36885417e+02] [-1.62126119e-02 9.99868407e-01 -5.65026631e-04 -2.64703182e+00] [-9.88260934e-03 4.04829356e-04 9.99951084e-01 -2.98215410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344391418 meters 0.02208526974664832 Centerline is valid? [True, True] Translation: X:136.95, Y:-2.64, Z:-2.98 [[ 9.99570437e-01 2.73863101e-02 1.04370409e-02 1.36946804e+02] [-2.73815651e-02 9.99624876e-01 -5.97275726e-04 -2.63652710e+00] [-1.04494829e-02 3.11236642e-04 9.99945354e-01 -2.98289319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404391418 meters 0.018885610355724346 Centerline is valid? [True, True] Translation: X:137.01, Y:-2.63, Z:-2.98 [[ 9.99259688e-01 3.70851577e-02 1.02355535e-02 1.37006367e+02] [-3.70810984e-02 9.99312088e-01 -5.86146265e-04 -2.62894737e+00] [-1.02502497e-02 2.06166766e-04 9.99947444e-01 -2.98447173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464391418 meters 0.017200023658687454 Centerline is valid? [True, True] Translation: X:137.07, Y:-2.63, Z:-2.99 [[ 9.99067571e-01 4.21264853e-02 9.45237212e-03 1.37065436e+02] [-4.21232471e-02 9.99112275e-01 -5.41493119e-04 -2.62515002e+00] [-9.46679222e-03 1.42823609e-04 9.99955179e-01 -2.98606946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524391418 meters 0.015967281528627322 Centerline is valid? [True, True] Translation: X:137.12, Y:-2.62, Z:-2.99 [[ 9.98843288e-01 4.71914705e-02 9.22234639e-03 1.37124250e+02] [-4.71886102e-02 9.98885858e-01 -5.27622485e-04 -2.62270155e+00] [-9.23697066e-03 9.18224688e-05 9.99957334e-01 -2.98729102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584391418 meters 0.015794455013647336 Centerline is valid? [True, True] Translation: X:137.18, Y:-2.62, Z:-2.99 [[ 9.98749052e-01 4.91254792e-02 9.32832082e-03 1.37183260e+02] [-4.91226445e-02 9.98792612e-01 -5.32900048e-04 -2.62435528e+00] [-9.34323689e-03 7.40016310e-05 9.99956348e-01 -2.98834079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644391418 meters 0.015715215807653872 Centerline is valid? [True, True] Translation: X:137.24, Y:-2.63, Z:-2.99 [[ 9.98772932e-01 4.85535265e-02 9.75632123e-03 1.37241315e+02] [-4.85504018e-02 9.98820579e-01 -5.56998416e-04 -2.62683977e+00] [-9.77185865e-03 8.26416252e-05 9.99952251e-01 -2.98831850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704391418 meters 0.01619458063447967 Centerline is valid? [True, True] Translation: X:137.30, Y:-2.63, Z:-2.99 [[ 9.98961488e-01 4.42586235e-02 1.08222016e-02 1.37299887e+02] [-4.42545488e-02 9.99020098e-01 -6.15811563e-04 -2.63446685e+00] [-1.08388519e-02 1.36240388e-04 9.99941249e-01 -2.98838529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764391418 meters 0.01850350506580668 Centerline is valid? [True, True] Translation: X:137.36, Y:-2.65, Z:-2.99 [[ 9.99310427e-01 3.52762768e-02 1.15867968e-02 1.37358284e+02] [-3.52710167e-02 9.99377567e-01 -6.58071767e-04 -2.64757294e+00] [-1.16027991e-02 2.48939875e-04 9.99932654e-01 -2.98927511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82439141799998 meters 0.020919824704563272 Centerline is valid? [True, True] Translation: X:137.42, Y:-2.66, Z:-2.99 [[ 9.99520636e-01 2.85594241e-02 1.19523133e-02 1.37417558e+02] [-2.85533585e-02 9.99592040e-01 -6.77856982e-04 -2.65820983e+00] [-1.19667964e-02 3.36253357e-04 9.99928339e-01 -2.99015996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88439141799998 meters 0.025116158373411218 Centerline is valid? [True, True] Translation: X:137.48, Y:-2.67, Z:-2.99 [[ 9.99737164e-01 1.98877663e-02 1.14052365e-02 1.37476663e+02] [-1.98816881e-02 9.99802131e-01 -6.46070928e-04 -2.67276548e+00] [-1.14158286e-02 4.19145764e-04 9.99934749e-01 -2.99246007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94439141799998 meters 0.029091337267142747 Centerline is valid? [True, True] Translation: X:137.54, Y:-2.69, Z:-3.00 [[ 9.99827611e-01 1.55969020e-02 1.00739518e-02 1.37536057e+02] [-1.55919444e-02 9.99878276e-01 -5.70483633e-04 -2.68637739e+00] [-1.00816233e-02 4.13312793e-04 9.99949094e-01 -2.99573348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00439141799998 meters 0.028678135457414128 Centerline is valid? [True, True] Translation: X:137.60, Y:-2.69, Z:-3.00 [[ 9.99822055e-01 1.59807077e-02 1.00237317e-02 1.37596166e+02] [-1.59758186e-02 9.99872217e-01 -5.67639693e-04 -2.69146662e+00] [-1.00315221e-02 4.07401365e-04 9.99949600e-01 -2.99714386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06439141799999 meters 0.02354646399454874 Centerline is valid? [True, True] Translation: X:137.66, Y:-2.69, Z:-3.00 [[ 9.99708128e-01 2.21899094e-02 9.55340506e-03 1.37657184e+02] [-2.21857539e-02 9.99753720e-01 -5.40741953e-04 -2.68880816e+00] [-9.56305126e-03 3.28634631e-04 9.99954219e-01 -2.99674794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124391418 meters 0.019796676392935978 Centerline is valid? [True, True] Translation: X:137.72, Y:-2.69, Z:-3.00 [[ 9.99456916e-01 3.15139618e-02 9.63036967e-03 1.37717728e+02] [-3.15101663e-02 9.99503282e-01 -5.45629836e-04 -2.68702141e+00] [-9.64278105e-03 2.41878963e-04 9.99953478e-01 -2.99739355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184391418 meters 0.017481335530905005 Centerline is valid? [True, True] Translation: X:137.78, Y:-2.69, Z:-3.00 [[ 9.99248759e-01 3.75182912e-02 9.71058309e-03 1.37777291e+02] [-3.75147119e-02 9.99295924e-01 -5.50556965e-04 -2.68810807e+00] [-9.72440206e-03 1.85853637e-04 9.99952700e-01 -2.99910744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244391418 meters 0.015460365404290919 Centerline is valid? [True, True] Translation: X:137.84, Y:-2.69, Z:-3.00 [[ 9.98962863e-01 4.47559079e-02 8.37298052e-03 1.37835506e+02] [-4.47534982e-02 9.98997947e-01 -4.75033824e-04 -2.68936109e+00] [-8.38585092e-03 9.98209804e-05 9.99964833e-01 -3.00149040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304391418 meters 0.014864395921136584 Centerline is valid? [True, True] Translation: X:137.89, Y:-2.69, Z:-3.00 [[ 9.98808159e-01 4.80667328e-02 8.47644556e-03 1.37894690e+02] [-4.80643907e-02 9.98844124e-01 -4.79930917e-04 -2.69249299e+00] [-8.48971655e-03 7.19437247e-05 9.99963959e-01 -3.00312562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364391418 meters 0.014680042339517502 Centerline is valid? [True, True] Translation: X:137.95, Y:-2.70, Z:-3.00 [[ 9.98664459e-01 5.08241725e-02 9.28451926e-03 1.37953665e+02] [-5.08214855e-02 9.98707615e-01 -5.25263496e-04 -2.69642911e+00] [-9.29921617e-03 5.27089241e-05 9.99956760e-01 -3.00445744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424391418 meters 0.014306114766161596 Centerline is valid? [True, True] Translation: X:138.01, Y:-2.70, Z:-3.01 [[ 9.98526139e-01 5.33090667e-02 1.01829972e-02 1.38011257e+02] [-5.33059712e-02 9.98578060e-01 -5.75352425e-04 -2.70102368e+00] [-1.01991891e-02 3.16898795e-05 9.99947986e-01 -3.00511279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484391418 meters 0.013966143392491196 Centerline is valid? [True, True] Translation: X:138.07, Y:-2.71, Z:-3.00 [[ 9.98310611e-01 5.67509094e-02 1.24602645e-02 1.38070251e+02] [-5.67465647e-02 9.98388368e-01 -7.02243719e-04 -2.70521786e+00] [-1.24800361e-02 -6.01984749e-06 9.99922121e-01 -3.00294159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544391418 meters 0.014087620223047272 Centerline is valid? [True, True] Translation: X:138.13, Y:-2.71, Z:-3.00 [[ 9.98253610e-01 5.75622086e-02 1.32786686e-02 1.38128971e+02] [-5.75573622e-02 9.98341921e-01 -7.47165138e-04 -2.71370526e+00] [-1.32996600e-02 -1.84248447e-05 9.99911555e-01 -3.00479229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60439141799998 meters 0.014176347094357757 Centerline is valid? [True, True] Translation: X:138.19, Y:-2.72, Z:-3.01 [[ 9.98344705e-01 5.58150927e-02 1.38753563e-02 1.38187599e+02] [-5.58096488e-02 9.98441123e-01 -7.79541323e-04 -2.72296962e+00] [-1.38972365e-02 3.87219089e-06 9.99903429e-01 -3.00676714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66439141799998 meters 0.014322925894691309 Centerline is valid? [True, True] Translation: X:138.25, Y:-2.74, Z:-3.01 [[ 9.98549841e-01 5.16737367e-02 1.51009908e-02 1.38245013e+02] [-5.16668315e-02 9.98664018e-01 -8.47298789e-04 -2.73632270e+00] [-1.51245992e-02 6.58497248e-05 9.99885615e-01 -3.00782201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72439141799998 meters 0.014630241435753784 Centerline is valid? [True, True] Translation: X:138.30, Y:-2.75, Z:-3.01 [[ 9.98722758e-01 4.80317363e-02 1.56781566e-02 1.38303234e+02] [-4.80238794e-02 9.98845802e-01 -8.77458456e-04 -2.74766733e+00] [-1.57022068e-02 1.23411827e-04 9.99876705e-01 -3.00891048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78439141799998 meters 0.015838792614274642 Centerline is valid? [True, True] Translation: X:138.36, Y:-2.76, Z:-3.01 [[ 9.98931410e-01 4.32700910e-02 1.62399861e-02 1.38359936e+02] [-4.32610508e-02 9.99063390e-01 -9.07712653e-04 -2.76425466e+00] [-1.62640524e-02 2.04183815e-04 9.99867711e-01 -3.01077550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844391418 meters 0.016194753508737007 Centerline is valid? [True, True] Translation: X:138.42, Y:-2.78, Z:-3.01 [[ 9.99007944e-01 4.12934915e-02 1.66726209e-02 1.38418822e+02] [-4.12837269e-02 9.99147031e-01 -9.29565759e-04 -2.77654873e+00] [-1.66967847e-02 2.40335647e-04 9.99860570e-01 -3.01228195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904391418 meters 0.016200683245218755 Centerline is valid? [True, True] Translation: X:138.48, Y:-2.78, Z:-3.01 [[ 9.98962892e-01 4.21270335e-02 1.72758065e-02 1.38477742e+02] [-4.21166833e-02 9.99112235e-01 -9.62669925e-04 -2.78425746e+00] [-1.73010240e-02 2.34071863e-04 9.99850299e-01 -3.01366974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964391418 meters 0.0161365743388459 Centerline is valid? [True, True] Translation: X:138.54, Y:-2.79, Z:-3.02 [[ 9.98838790e-01 4.48338104e-02 1.76352463e-02 1.38536398e+02] [-4.48234758e-02 9.98994441e-01 -9.81049843e-04 -2.79456145e+00] [-1.76614972e-02 1.89437603e-04 9.99844006e-01 -3.01588270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024391418 meters 0.015466169257359141 Centerline is valid? [True, True] Translation: X:138.60, Y:-2.80, Z:-3.02 [[ 9.98811942e-01 4.54985796e-02 1.74523133e-02 1.38595798e+02] [-4.54885716e-02 9.98964388e-01 -9.70193501e-04 -2.80481721e+00] [-1.74783819e-02 1.75160050e-04 9.99847226e-01 -3.01656950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084391418 meters 0.015827207429718358 Centerline is valid? [True, True] Translation: X:138.66, Y:-2.81, Z:-3.02 [[ 9.98896080e-01 4.34958474e-02 1.77406993e-02 1.38655218e+02] [-4.34852034e-02 9.99053585e-01 -9.85482660e-04 -2.81477356e+00] [-1.77667737e-02 2.12936848e-04 9.99842136e-01 -3.01808707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144391418 meters 0.01753178081949134 Centerline is valid? [True, True] Translation: X:138.71, Y:-2.83, Z:-3.02 [[ 9.99139286e-01 3.73252763e-02 1.80972764e-02 1.38714078e+02] [-3.73132047e-02 9.99303115e-01 -1.00435926e-03 -2.83186548e+00] [-1.81221527e-02 3.28227413e-04 9.99835726e-01 -3.01911975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204391418 meters 0.019398512836080423 Centerline is valid? [True, True] Translation: X:138.78, Y:-2.85, Z:-3.02 [[ 9.99325031e-01 3.18271329e-02 1.83443895e-02 1.38775232e+02] [-3.18138198e-02 9.99493295e-01 -1.01717476e-03 -2.84574351e+00] [-1.83674680e-02 4.32883098e-04 9.99831210e-01 -3.02000918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264391418 meters 0.024892785872822787 Centerline is valid? [True, True] Translation: X:138.83, Y:-2.87, Z:-3.02 [[ 9.99595708e-01 2.21212543e-02 1.78625703e-02 1.38833701e+02] [-2.21069849e-02 9.99755115e-01 -9.95929735e-04 -2.86626241e+00] [-1.78802272e-02 6.00639516e-04 9.99839956e-01 -3.02152524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32439141799998 meters 0.029782975744146473 Centerline is valid? [True, True] Translation: X:138.89, Y:-2.88, Z:-3.02 [[ 9.99723709e-01 1.48239759e-02 1.82415675e-02 1.38893429e+02] [-1.48078713e-02 9.99889840e-01 -1.01761139e-03 -2.88320664e+00] [-1.82546431e-02 7.47211447e-04 9.99833091e-01 -3.02216254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38439141799998 meters 0.02778670811447153 Centerline is valid? [True, True] Translation: X:138.96, Y:-2.89, Z:-3.02 [[ 9.99754401e-01 1.32993931e-02 1.77274715e-02 1.38955365e+02] [-1.32839644e-02 9.99911276e-01 -9.87803896e-04 -2.88664993e+00] [-1.77390358e-02 7.52070193e-04 9.99842368e-01 -3.02268193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44439141799998 meters 0.030390532243130805 Centerline is valid? [True, True] Translation: X:139.02, Y:-2.90, Z:-3.02 [[ 9.99721508e-01 1.58375121e-02 1.74951421e-02 1.39015121e+02] [-1.58227744e-02 9.99874331e-01 -9.80496234e-04 -2.89626732e+00] [-1.75084721e-02 7.03401488e-04 9.99846468e-01 -3.02445903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50439141799998 meters 0.023664496943535993 Centerline is valid? [True, True] Translation: X:139.08, Y:-2.89, Z:-3.03 [[ 9.99574911e-01 2.34301050e-02 1.73501329e-02 1.39076257e+02] [-2.34167090e-02 9.99725316e-01 -9.74880941e-04 -2.89008036e+00] [-1.73682087e-02 5.68183517e-04 9.99849000e-01 -3.02566665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56439141799999 meters 0.02017264486100177 Centerline is valid? [True, True] Translation: X:139.14, Y:-2.89, Z:-3.03 [[ 9.99409868e-01 2.99658154e-02 1.67918061e-02 1.39137635e+02] [-2.99541871e-02 9.99550827e-01 -9.43637104e-04 -2.88682416e+00] [-1.68125405e-02 4.40095333e-04 9.99858562e-01 -3.02755061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624391418 meters 0.017440219883436896 Centerline is valid? [True, True] Translation: X:139.20, Y:-2.88, Z:-3.03 [[ 9.99094529e-01 3.91683367e-02 1.66121420e-02 1.39199106e+02] [-3.91582218e-02 9.99232586e-01 -9.33848057e-04 -2.88355722e+00] [-1.66359709e-02 2.82500544e-04 9.99861573e-01 -3.02957093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684391418 meters 0.016043363993696866 Centerline is valid? [True, True] Translation: X:139.26, Y:-2.88, Z:-3.03 [[ 9.98864138e-01 4.49767570e-02 1.57329384e-02 1.39258314e+02] [-4.49683947e-02 9.98988018e-01 -8.85053856e-04 -2.88248081e+00] [-1.57568238e-02 1.76563573e-04 9.99875838e-01 -3.03277500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744391418 meters 0.01564945397975969 Centerline is valid? [True, True] Translation: X:139.32, Y:-2.88, Z:-3.03 [[ 9.98828925e-01 4.58931427e-02 1.53166218e-02 1.39317829e+02] [-4.58853277e-02 9.98946342e-01 -8.61451234e-04 -2.88410195e+00] [-1.53400181e-02 1.57634197e-04 9.99882323e-01 -3.03429152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804391418 meters 0.016100588298253192 Centerline is valid? [True, True] Translation: X:139.38, Y:-2.89, Z:-3.04 [[ 9.98882313e-01 4.47890443e-02 1.51018310e-02 1.39376982e+02] [-4.47813301e-02 9.98996452e-01 -8.48750528e-04 -2.88889064e+00] [-1.51246903e-02 1.71521813e-04 9.99885601e-01 -3.03596198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864391418 meters 0.016851065552766338 Centerline is valid? [True, True] Translation: X:139.44, Y:-2.90, Z:-3.04 [[ 9.98955728e-01 4.27455280e-02 1.61329955e-02 1.39436706e+02] [-4.27364753e-02 9.99085969e-01 -9.05627952e-04 -2.89561563e+00] [-1.61569609e-02 2.15214868e-04 9.99869445e-01 -3.03675664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924391418 meters 0.01959692121277843 Centerline is valid? [True, True] Translation: X:139.50, Y:-2.91, Z:-3.04 [[ 9.99146851e-01 3.76424869e-02 1.69886354e-02 1.39496085e+02] [-3.76317128e-02 9.99291221e-01 -9.53542490e-04 -2.90532652e+00] [-1.70124879e-02 3.13417530e-04 9.99855228e-01 -3.03683291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984391418 meters 0.021368216598194677 Centerline is valid? [True, True] Translation: X:139.56, Y:-2.91, Z:-3.04 [[ 9.99338362e-01 3.14294398e-02 1.83037967e-02 1.39557150e+02] [-3.14158504e-02 9.99505870e-01 -1.02957759e-03 -2.91318050e+00] [-1.83271113e-02 4.53867044e-04 9.99831941e-01 -3.03746549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044391418 meters 0.024638860681861573 Centerline is valid? [True, True] Translation: X:139.62, Y:-2.92, Z:-3.04 [[ 9.99485363e-01 2.57597457e-02 1.91166136e-02 1.39617395e+02] [-2.57438705e-02 9.99667992e-01 -1.07610577e-03 -2.92477195e+00] [-1.91379869e-02 5.83416345e-04 9.99816682e-01 -3.03902437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10439141799998 meters 0.025046085991423366 Centerline is valid? [True, True] Translation: X:139.68, Y:-2.93, Z:-3.04 [[ 9.99544111e-01 2.33163585e-02 1.91811867e-02 1.39679299e+02] [-2.32999171e-02 9.99727936e-01 -1.08023060e-03 -2.92967781e+00] [-1.92011552e-02 6.32818078e-04 9.99815441e-01 -3.04094045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16439141799998 meters 0.02587850159118147 Centerline is valid? [True, True] Translation: X:139.74, Y:-2.93, Z:-3.04 [[ 9.99559184e-01 2.35071348e-02 1.81342786e-02 1.39742454e+02] [-2.34923798e-02 9.99723489e-01 -1.02628050e-03 -2.93475255e+00] [-1.81533891e-02 5.99810742e-04 9.99835034e-01 -3.04387303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22439141799998 meters 0.024760433063756592 Centerline is valid? [True, True] Translation: X:139.80, Y:-2.94, Z:-3.05 [[ 9.99512883e-01 2.56278150e-02 1.78104143e-02 1.39804687e+02] [-2.56138094e-02 9.99671398e-01 -1.01407710e-03 -2.93664852e+00] [-1.78305503e-02 5.57390570e-04 9.99840868e-01 -3.04660529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28439141799998 meters 0.023324446825405132 Centerline is valid? [True, True] Translation: X:139.87, Y:-2.94, Z:-3.05 [[ 9.99421074e-01 2.91739086e-02 1.75042632e-02 1.39866792e+02] [-2.91608331e-02 9.99574230e-01 -1.00181377e-03 -2.93817485e+00] [-1.75260373e-02 4.90794891e-04 9.99846287e-01 -3.04856790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344391418 meters 0.020743363582267707 Centerline is valid? [True, True] Translation: X:139.93, Y:-2.94, Z:-3.05 [[ 9.99227802e-01 3.52521262e-02 1.73518465e-02 1.39928420e+02] [-3.52400835e-02 9.99378376e-01 -9.99397919e-04 -2.93545001e+00] [-1.73762910e-02 3.87145667e-04 9.99848946e-01 -3.05113289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404391418 meters 0.018775318625321002 Centerline is valid? [True, True] Translation: X:139.99, Y:-2.93, Z:-3.05 [[ 9.99068266e-01 3.92585063e-02 1.79267624e-02 1.39989683e+02] [-3.92462826e-02 9.99229034e-01 -1.03330171e-03 -2.93405564e+00] [-1.79535073e-02 3.28780164e-04 9.99838769e-01 -3.05241497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464391418 meters 0.016042392097421247 Centerline is valid? [True, True] Translation: X:140.05, Y:-2.93, Z:-3.05 [[ 9.98747117e-01 4.64229034e-02 1.86844941e-02 1.40049969e+02] [-4.64108593e-02 9.98921854e-01 -1.07794246e-03 -2.92946147e+00] [-1.87143907e-02 2.09428499e-04 9.99824849e-01 -3.05347869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524391418 meters 0.014542521493316161 Centerline is valid? [True, True] Translation: X:140.11, Y:-2.93, Z:-3.05 [[ 9.98485562e-01 5.14653858e-02 1.94395490e-02 1.40109865e+02] [-5.14533028e-02 9.98674772e-01 -1.12155521e-03 -2.92598586e+00] [-1.94715085e-02 1.19627683e-04 9.99810405e-01 -3.05393918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584391418 meters 0.014363386322627852 Centerline is valid? [True, True] Translation: X:140.17, Y:-2.93, Z:-3.06 [[ 9.98444646e-01 5.21123917e-02 1.98138338e-02 1.40169987e+02] [-5.20999743e-02 9.98641220e-01 -1.14273963e-03 -2.92805772e+00] [-1.98464620e-02 1.08662038e-04 9.99803034e-01 -3.05545005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644391418 meters 0.015063564453450461 Centerline is valid? [True, True] Translation: X:140.23, Y:-2.94, Z:-3.06 [[ 9.98609186e-01 4.90171053e-02 1.94169262e-02 1.40230406e+02] [-4.90046040e-02 9.98797925e-01 -1.11939957e-03 -2.93573772e+00] [-1.94484553e-02 1.66323915e-04 9.99810847e-01 -3.05808700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704391418 meters 0.01702880233242733 Centerline is valid? [True, True] Translation: X:140.29, Y:-2.95, Z:-3.06 [[ 9.98865659e-01 4.35115014e-02 1.93428332e-02 1.40290763e+02] [-4.34980642e-02 9.99052889e-01 -1.11507291e-03 -2.94584132e+00] [-1.93730319e-02 2.72432239e-04 9.99812288e-01 -3.05947903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764391418 meters 0.01771097676533144 Centerline is valid? [True, True] Translation: X:140.35, Y:-2.95, Z:-3.06 [[ 9.99019284e-01 3.97696262e-02 1.94640160e-02 1.40351715e+02] [-3.97553033e-02 9.99208815e-01 -1.12240387e-03 -2.95220444e+00] [-1.94932540e-02 3.47505250e-04 9.99809928e-01 -3.06054385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82439141799998 meters 0.021146274684192196 Centerline is valid? [True, True] Translation: X:140.41, Y:-2.96, Z:-3.06 [[ 9.99156380e-01 3.61443895e-02 1.94964461e-02 1.40411789e+02] [-3.61293120e-02 9.99346490e-01 -1.12513622e-03 -2.96438444e+00] [-1.95243723e-02 4.19793847e-04 9.99809293e-01 -3.06242900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88439141799998 meters 0.02274866241235764 Centerline is valid? [True, True] Translation: X:140.47, Y:-2.97, Z:-3.06 [[ 9.99191449e-01 3.50318017e-02 1.97286677e-02 1.40472572e+02] [-3.50161384e-02 9.99386098e-01 -1.13892544e-03 -2.97142328e+00] [-1.97564548e-02 4.47182799e-04 9.99804722e-01 -3.06294734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94439141799998 meters 0.020646246656183708 Centerline is valid? [True, True] Translation: X:140.54, Y:-2.97, Z:-3.06 [[ 9.99155672e-01 3.58742358e-02 2.00245507e-02 1.40535288e+02] [-3.58581580e-02 9.99356214e-01 -1.16149799e-03 -2.97270666e+00] [-2.00533270e-02 4.42473804e-04 9.99798814e-01 -3.06398035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00439141799998 meters 0.020339667447777928 Centerline is valid? [True, True] Translation: X:140.60, Y:-2.98, Z:-3.07 [[ 9.99106279e-01 3.73058027e-02 1.98725830e-02 1.40597089e+02] [-3.72902180e-02 9.99303811e-01 -1.15434660e-03 -2.97701010e+00] [-1.99018117e-02 4.12261983e-04 9.99801854e-01 -3.06576138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06439141799999 meters 0.018275249002025276 Centerline is valid? [True, True] Translation: X:140.66, Y:-2.98, Z:-3.07 [[ 9.99002301e-01 4.01478594e-02 1.95589249e-02 1.40658969e+02] [-4.01331999e-02 9.99193686e-01 -1.14160346e-03 -2.97855718e+00] [-1.95889872e-02 3.55502243e-04 9.99808054e-01 -3.06739749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124391418 meters 0.017036964306683264 Centerline is valid? [True, True] Translation: X:140.72, Y:-2.98, Z:-3.07 [[ 9.98813754e-01 4.44203686e-02 1.99478186e-02 1.40720364e+02] [-4.44058471e-02 9.99012888e-01 -1.17054648e-03 -2.98102797e+00] [-1.99801240e-02 2.83358138e-04 9.99800337e-01 -3.06812569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184391418 meters 0.015728019960104315 Centerline is valid? [True, True] Translation: X:140.78, Y:-2.98, Z:-3.07 [[ 9.98622645e-01 4.85458415e-02 1.99026094e-02 1.40781285e+02] [-4.85320848e-02 9.98820934e-01 -1.17390855e-03 -2.98245429e+00] [-1.99361313e-02 2.06376535e-04 9.99801234e-01 -3.07006980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244391418 meters 0.014151229407747688 Centerline is valid? [True, True] Translation: X:140.84, Y:-2.98, Z:-3.07 [[ 9.98271716e-01 5.56739526e-02 1.88146698e-02 1.40842008e+02] [-5.56629078e-02 9.98449001e-01 -1.11061236e-03 -2.98224011e+00] [-1.88473204e-02 6.14136720e-05 9.99822372e-01 -3.07260412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304391418 meters 0.01401235895329909 Centerline is valid? [True, True] Translation: X:140.90, Y:-2.99, Z:-3.07 [[ 9.98061339e-01 5.92644252e-02 1.90076762e-02 1.40901339e+02] [-5.92538012e-02 9.98242319e-01 -1.12213256e-03 -2.98527463e+00] [-1.90407693e-02 -6.31994253e-06 9.99818708e-01 -3.07374164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364391418 meters 0.013872943804314865 Centerline is valid? [True, True] Translation: X:140.96, Y:-2.99, Z:-3.08 [[ 9.98008747e-01 6.03835894e-02 1.82308467e-02 1.40960696e+02] [-6.03740162e-02 9.98175246e-01 -1.07553798e-03 -2.99295892e+00] [-1.82625248e-02 -2.72731278e-05 9.99833226e-01 -3.07560252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424391418 meters 0.013823850301019992 Centerline is valid? [True, True] Translation: X:141.02, Y:-3.01, Z:-3.08 [[ 9.98240357e-01 5.68105909e-02 1.69925260e-02 1.41019853e+02] [-5.68017676e-02 9.98384974e-01 -1.00182423e-03 -3.00585650e+00] [-1.70219969e-02 3.48558653e-05 9.99855115e-01 -3.07758202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484391418 meters 0.015201373340033303 Centerline is valid? [True, True] Translation: X:141.08, Y:-3.02, Z:-3.08 [[ 9.98625591e-01 4.96708885e-02 1.67251782e-02 1.41078385e+02] [-4.96613552e-02 9.98765628e-01 -9.85101013e-04 -3.02285652e+00] [-1.67534639e-02 1.53152068e-04 9.99859639e-01 -3.07853778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544391418 meters 0.01857020507053052 Centerline is valid? [True, True] Translation: X:141.14, Y:-3.04, Z:-3.08 [[ 9.98962246e-01 4.24742288e-02 1.64429383e-02 1.41138026e+02] [-4.24640379e-02 9.99097526e-01 -9.68574438e-04 -3.04071940e+00] [-1.64692384e-02 2.69335742e-04 9.99864337e-01 -3.07935327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60439141799998 meters 0.01951827340799921 Centerline is valid? [True, True] Translation: X:141.20, Y:-3.05, Z:-3.08 [[ 9.99106281e-01 3.89778746e-02 1.63512567e-02 1.41199972e+02] [-3.89673492e-02 9.99240021e-01 -9.61936137e-04 -3.04951744e+00] [-1.63763243e-02 3.23911308e-04 9.99865847e-01 -3.07947139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66439141799998 meters 0.022734489627800353 Centerline is valid? [True, True] Translation: X:141.26, Y:-3.06, Z:-3.08 [[ 9.99315713e-01 3.30310506e-02 1.66449833e-02 1.41261646e+02] [-3.30192159e-02 9.99454231e-01 -9.85406089e-04 -3.06444855e+00] [-1.66684480e-02 4.35127491e-04 9.99860977e-01 -3.07981894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72439141799998 meters 0.027706088729819122 Centerline is valid? [True, True] Translation: X:141.32, Y:-3.08, Z:-3.08 [[ 9.99536214e-01 2.58463307e-02 1.61035311e-02 1.41322240e+02] [-2.58342970e-02 9.99665783e-01 -9.54882205e-04 -3.07977539e+00] [-1.61228292e-02 5.38415939e-04 9.99869874e-01 -3.08126895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78439141799998 meters 0.030454677509710093 Centerline is valid? [True, True] Translation: X:141.38, Y:-3.09, Z:-3.08 [[ 9.99727201e-01 1.78877988e-02 1.50183608e-02 1.41382210e+02] [-1.78764233e-02 9.99839807e-01 -8.91348884e-04 -3.08930068e+00] [-1.50318992e-02 6.22631150e-04 9.99886821e-01 -3.08258433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844391418 meters 0.03242714363866198 Centerline is valid? [True, True] Translation: X:141.44, Y:-3.10, Z:-3.08 [[ 9.99822770e-01 1.24908777e-02 1.40856656e-02 1.41442573e+02] [-1.24803380e-02 9.99921768e-01 -8.35913547e-04 -3.09643424e+00] [-1.40950050e-02 6.59971529e-04 9.99900443e-01 -3.08416278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904391418 meters 0.03723572791112175 Centerline is valid? [True, True] Translation: X:141.50, Y:-3.11, Z:-3.09 [[ 9.99881654e-01 7.23169812e-03 1.35786990e-02 1.41502434e+02] [-7.22141586e-03 9.99973600e-01 -8.06113509e-04 -3.10630777e+00] [-1.35841701e-02 7.07960677e-04 9.99907480e-01 -3.08602680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964391418 meters 0.03887146381422227 Centerline is valid? [True, True] Translation: X:141.56, Y:-3.11, Z:-3.09 [[ 9.99893247e-01 6.28075943e-03 1.31926877e-02 1.41564774e+02] [-6.27099917e-03 9.99980032e-01 -7.81060790e-04 -3.10956108e+00] [-1.31973300e-02 6.98246075e-04 9.99912668e-01 -3.08765643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024391418 meters 0.03677794743048381 Centerline is valid? [True, True] Translation: X:141.63, Y:-3.10, Z:-3.09 [[ 9.99892122e-01 8.07870148e-03 1.22670108e-02 1.41627592e+02] [-8.07035967e-03 9.99967168e-01 -7.29369749e-04 -3.10412797e+00] [-1.22725004e-02 6.30291877e-04 9.99924491e-01 -3.08924822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084391418 meters 0.035008188276221694 Centerline is valid? [True, True] Translation: X:141.69, Y:-3.10, Z:-3.09 [[ 9.99853041e-01 1.24786489e-02 1.17549773e-02 1.41688575e+02] [-1.24712179e-02 9.99921983e-01 -7.05248070e-04 -3.09794991e+00] [-1.17628607e-02 5.58545545e-04 9.99930659e-01 -3.09074367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144391418 meters 0.032134901532003275 Centerline is valid? [True, True] Translation: X:141.75, Y:-3.09, Z:-3.09 [[ 9.99760448e-01 1.69233200e-02 1.38797640e-02 1.41750444e+02] [-1.69133897e-02 9.99856612e-01 -8.32528718e-04 -3.08839837e+00] [-1.38918630e-02 5.97575426e-04 9.99903325e-01 -3.09024473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204391418 meters 0.031454254607212274 Centerline is valid? [True, True] Translation: X:141.81, Y:-3.09, Z:-3.09 [[ 9.99729172e-01 1.85236533e-02 1.40874857e-02 1.41812506e+02] [-1.85136075e-02 9.99828253e-01 -8.43195523e-04 -3.08861749e+00] [-1.41006853e-02 5.82156981e-04 9.99900411e-01 -3.09130270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264391418 meters 0.03060512407572698 Centerline is valid? [True, True] Translation: X:141.88, Y:-3.09, Z:-3.09 [[ 9.99678634e-01 2.09747032e-02 1.42369502e-02 1.41875318e+02] [-2.09646300e-02 9.99779851e-01 -8.56431606e-04 -3.08583867e+00] [-1.42517793e-02 5.57683986e-04 9.99898283e-01 -3.09291940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32439141799998 meters 0.030399559072227904 Centerline is valid? [True, True] Translation: X:141.94, Y:-3.08, Z:-3.09 [[ 9.99619464e-01 2.32935742e-02 1.47761867e-02 1.41936918e+02] [-2.32829062e-02 9.99728517e-01 -8.93606104e-04 -3.08011147e+00] [-1.47929905e-02 5.49233485e-04 9.99890427e-01 -3.09438001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38439141799998 meters 0.028153911301488876 Centerline is valid? [True, True] Translation: X:142.00, Y:-3.07, Z:-3.09 [[ 9.99596720e-01 2.38680188e-02 1.53855675e-02 1.42000071e+02] [-2.38564556e-02 9.99714957e-01 -9.34686039e-04 -3.07204338e+00] [-1.54034911e-02 5.67263990e-04 9.99881198e-01 -3.09480933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44439141799998 meters 0.025950603139309206 Centerline is valid? [True, True] Translation: X:142.06, Y:-3.06, Z:-3.10 [[ 9.99567718e-01 2.45798327e-02 1.61309756e-02 1.42062436e+02] [-2.45671353e-02 9.99697697e-01 -9.84857631e-04 -3.06491016e+00] [-1.61503068e-02 5.88140035e-04 9.99869402e-01 -3.09547399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50439141799998 meters 0.024707723936056383 Centerline is valid? [True, True] Translation: X:142.12, Y:-3.06, Z:-3.10 [[ 9.99520218e-01 2.61048718e-02 1.66694341e-02 1.42124780e+02] [-2.60914445e-02 9.99659037e-01 -1.02251325e-03 -3.06147706e+00] [-1.66904430e-02 5.87093054e-04 9.99860532e-01 -3.09689051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56439141799999 meters 0.022660885143903096 Centerline is valid? [True, True] Translation: X:142.19, Y:-3.05, Z:-3.10 [[ 9.99428961e-01 2.98039271e-02 1.59209706e-02 1.42186802e+02] [-2.97920573e-02 9.99555636e-01 -9.82251667e-04 -3.05387221e+00] [-1.59431708e-02 5.07372295e-04 9.99872771e-01 -3.09880737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624391418 meters 0.021294711676899288 Centerline is valid? [True, True] Translation: X:142.25, Y:-3.05, Z:-3.10 [[ 9.99281696e-01 3.41001864e-02 1.65308682e-02 1.42248705e+02] [-3.40879651e-02 9.99418315e-01 -1.02059111e-03 -3.04856125e+00] [-1.65560548e-02 4.56354353e-04 9.99862835e-01 -3.10017307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684391418 meters 0.01986302863854198 Centerline is valid? [True, True] Translation: X:142.31, Y:-3.04, Z:-3.10 [[ 9.99176170e-01 3.68529903e-02 1.69952237e-02 1.42309789e+02] [-3.68404552e-02 9.99320608e-01 -1.05016423e-03 -3.04421792e+00] [-1.70223789e-02 4.23187297e-04 9.99855019e-01 -3.10113857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744391418 meters 0.01984011072588411 Centerline is valid? [True, True] Translation: X:142.37, Y:-3.05, Z:-3.10 [[ 9.99187023e-01 3.67707779e-02 1.65288417e-02 1.42370721e+02] [-3.67589102e-02 9.99323641e-01 -1.02134568e-03 -3.04554593e+00] [-1.65552180e-02 4.12933144e-04 9.99862868e-01 -3.10314924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804391418 meters 0.022255148776463222 Centerline is valid? [True, True] Translation: X:142.43, Y:-3.05, Z:-3.10 [[ 9.99288120e-01 3.34929084e-02 1.73631034e-02 1.42430261e+02] [-3.34793177e-02 9.99438835e-01 -1.07289616e-03 -3.05033439e+00] [-1.73892943e-02 4.90827526e-04 9.99848674e-01 -3.10476800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864391418 meters 0.02532766908214319 Centerline is valid? [True, True] Translation: X:142.49, Y:-3.06, Z:-3.11 [[ 9.99421221e-01 2.89754975e-02 1.78225395e-02 1.42491165e+02] [-2.89604632e-02 9.99579951e-01 -1.10112592e-03 -3.05672568e+00] [-1.78469588e-02 5.84339608e-04 9.99840560e-01 -3.10614300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924391418 meters 0.027402625442410834 Centerline is valid? [True, True] Translation: X:142.55, Y:-3.06, Z:-3.11 [[ 9.99512999e-01 2.62337567e-02 1.68983697e-02 1.42552846e+02] [-2.62198579e-02 9.99655656e-01 -1.04356357e-03 -3.06192272e+00] [-1.69199274e-02 5.99982499e-04 9.99856668e-01 -3.10823919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984391418 meters 0.024818903002459914 Centerline is valid? [True, True] Translation: X:142.61, Y:-3.06, Z:-3.11 [[ 9.99504792e-01 2.65562505e-02 1.68800304e-02 1.42614890e+02] [-2.65423609e-02 9.99647142e-01 -1.04638088e-03 -3.06070844e+00] [-1.69018621e-02 5.97826847e-04 9.99856975e-01 -3.10961071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044391418 meters 0.023260080324090153 Centerline is valid? [True, True] Translation: X:142.68, Y:-3.06, Z:-3.11 [[ 9.99409919e-01 2.99615769e-02 1.67963504e-02 1.42676401e+02] [-2.99482028e-02 9.99550903e-01 -1.04726953e-03 -3.06024645e+00] [-1.68201850e-02 5.43631044e-04 9.99858383e-01 -3.11108147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10439141799998 meters 0.02099825898322518 Centerline is valid? [True, True] Translation: X:142.74, Y:-3.06, Z:-3.11 [[ 9.99199357e-01 3.60278575e-02 1.73965113e-02 1.42737273e+02] [-3.60144127e-02 9.99350681e-01 -1.08561882e-03 -3.05679669e+00] [-1.74243280e-02 4.58224486e-04 9.99848080e-01 -3.11172044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16439141799998 meters 0.019064652340197403 Centerline is valid? [True, True] Translation: X:142.80, Y:-3.06, Z:-3.11 [[ 9.99016170e-01 4.07939455e-02 1.73938510e-02 1.42797450e+02] [-4.07812249e-02 9.99167510e-01 -1.08554348e-03 -3.05528449e+00] [-1.74236544e-02 3.75132938e-04 9.99848126e-01 -3.11267510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22439141799998 meters 0.01694748620559834 Centerline is valid? [True, True] Translation: X:142.86, Y:-3.05, Z:-3.11 [[ 9.98739867e-01 4.71797521e-02 1.71099063e-02 1.42856365e+02] [-4.71683824e-02 9.98886382e-01 -1.06767992e-03 -3.05279987e+00] [-1.71412253e-02 2.59287900e-04 9.99853045e-01 -3.11486179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28439141799998 meters 0.015843418704765737 Centerline is valid? [True, True] Translation: X:142.91, Y:-3.05, Z:-3.12 [[ 9.98572529e-01 5.08584205e-02 1.63194580e-02 1.42914696e+02] [-5.08485810e-02 9.98705856e-01 -1.01757144e-03 -3.05327476e+00] [-1.63500904e-02 1.86297602e-04 9.99866311e-01 -3.11690715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344391418 meters 0.014851167828883207 Centerline is valid? [True, True] Translation: X:142.97, Y:-3.05, Z:-3.12 [[ 9.98403163e-01 5.43830128e-02 1.52843566e-02 1.42974060e+02] [-5.43748127e-02 9.98520142e-01 -9.51867115e-04 -3.05330124e+00] [-1.53135033e-02 1.19263112e-04 9.99882734e-01 -3.11867565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404391418 meters 0.014701627510506219 Centerline is valid? [True, True] Translation: X:143.03, Y:-3.06, Z:-3.12 [[ 9.98401845e-01 5.47583432e-02 1.39742788e-02 1.43033190e+02] [-5.47515329e-02 9.98499631e-01 -8.69745983e-04 -3.05728697e+00] [-1.40009381e-02 1.03242806e-04 9.99901977e-01 -3.12067526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464391418 meters 0.015188992342517922 Centerline is valid? [True, True] Translation: X:143.09, Y:-3.06, Z:-3.12 [[ 9.98560531e-01 5.17736281e-02 1.40127263e-02 1.43091280e+02] [-5.17665019e-02 9.98658836e-01 -8.71031115e-04 -3.06419293e+00] [-1.40390293e-02 1.44387472e-04 9.99901438e-01 -3.12125218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524391418 meters 0.015866910992783104 Centerline is valid? [True, True] Translation: X:143.15, Y:-3.07, Z:-3.12 [[ 9.98684913e-01 4.92469840e-02 1.42540728e-02 1.43150101e+02] [-4.92393698e-02 9.98786615e-01 -8.84847939e-04 -3.07099829e+00] [-1.42803532e-02 1.81822726e-04 9.99898014e-01 -3.12173204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584391418 meters 0.017243589328037948 Centerline is valid? [True, True] Translation: X:143.21, Y:-3.08, Z:-3.12 [[ 9.98878683e-01 4.50648136e-02 1.45099749e-02 1.43208114e+02] [-4.50565021e-02 9.98984035e-01 -8.99375292e-04 -3.08022798e+00] [-1.45357634e-02 2.44598094e-04 9.99894320e-01 -3.12162831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644391418 meters 0.019854843421666178 Centerline is valid? [True, True] Translation: X:143.27, Y:-3.09, Z:-3.12 [[ 9.99151896e-01 3.84442818e-02 1.47487526e-02 1.43267194e+02] [-3.84349887e-02 9.99260686e-01 -9.13134462e-04 -3.09152929e+00] [-1.47729534e-02 3.45491891e-04 9.99890814e-01 -3.12263839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704391418 meters 0.024628686539015007 Centerline is valid? [True, True] Translation: X:143.33, Y:-3.10, Z:-3.13 [[ 9.99430879e-01 3.12138153e-02 1.27912109e-02 1.43326471e+02] [-3.12062415e-02 9.99512653e-01 -7.91320886e-04 -3.10459446e+00] [-1.28096773e-02 3.91704913e-04 9.99917876e-01 -3.12521801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764391418 meters 0.027190459714187 Centerline is valid? [True, True] Translation: X:143.39, Y:-3.12, Z:-3.13 [[ 9.99624750e-01 2.45203147e-02 1.22111911e-02 1.43386537e+02] [-2.45129184e-02 9.99699228e-01 -7.55026895e-04 -3.11602516e+00] [-1.22260318e-02 4.55411641e-04 9.99925156e-01 -3.12578931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82439141799998 meters 0.028774623632640148 Centerline is valid? [True, True] Translation: X:143.45, Y:-3.12, Z:-3.13 [[ 9.99664399e-01 2.27667612e-02 1.23597922e-02 1.43447326e+02] [-2.27590517e-02 9.99740687e-01 -7.64073814e-04 -3.12300988e+00] [-1.23739826e-02 4.82520242e-04 9.99923323e-01 -3.12719092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88439141799998 meters 0.029256006105364156 Centerline is valid? [True, True] Translation: X:143.51, Y:-3.13, Z:-3.13 [[ 9.99661717e-01 2.31865535e-02 1.17828774e-02 1.43508700e+02] [-2.31795845e-02 9.99731052e-01 -7.27695344e-04 -3.12758815e+00] [-1.17965812e-02 4.54326975e-04 9.99930315e-01 -3.12880110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94439141799998 meters 0.028018639557741556 Centerline is valid? [True, True] Translation: X:143.57, Y:-3.13, Z:-3.13 [[ 9.99618212e-01 2.53551463e-02 1.09794169e-02 1.43570422e+02] [-2.53491970e-02 9.99678426e-01 -6.80707671e-04 -3.12733167e+00] [-1.09931457e-02 4.02128382e-04 9.99939493e-01 -3.13100413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00439141799998 meters 0.027635698301736778 Centerline is valid? [True, True] Translation: X:143.63, Y:-3.13, Z:-3.13 [[ 9.99591893e-01 2.65060100e-02 1.06526140e-02 1.43630693e+02] [-2.65004663e-02 9.99648582e-01 -6.61254653e-04 -3.12780395e+00] [-1.06663977e-02 3.78685553e-04 9.99943041e-01 -3.13359366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06439141799999 meters 0.027768861502563406 Centerline is valid? [True, True] Translation: X:143.69, Y:-3.13, Z:-3.13 [[ 9.99582672e-01 2.65880212e-02 1.12941604e-02 1.43690700e+02] [-2.65817902e-02 9.99646396e-01 -7.01480285e-04 -3.13106946e+00] [-1.13088177e-02 4.00968537e-04 9.99935973e-01 -3.13481520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124391418 meters 0.027616813529912035 Centerline is valid? [True, True] Translation: X:143.75, Y:-3.13, Z:-3.13 [[ 9.99590863e-01 2.58925303e-02 1.21524906e-02 1.43750846e+02] [-2.58852757e-02 9.99664636e-01 -7.53902526e-04 -3.13229756e+00] [-1.21679356e-02 4.39023506e-04 9.99925872e-01 -3.13494139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184391418 meters 0.02697414622473241 Centerline is valid? [True, True] Translation: X:143.81, Y:-3.13, Z:-3.13 [[ 9.99601431e-01 2.49711518e-02 1.31689312e-02 1.43811019e+02] [-2.49625529e-02 9.99688053e-01 -8.16959321e-04 -3.13414065e+00] [-1.31852236e-02 4.87903564e-04 9.99912952e-01 -3.13476733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244391418 meters 0.028376082085686184 Centerline is valid? [True, True] Translation: X:143.87, Y:-3.14, Z:-3.14 [[ 9.99603739e-01 2.44926520e-02 1.38735361e-02 1.43871516e+02] [-2.44830722e-02 9.99699875e-01 -8.59959886e-04 -3.13819057e+00] [-1.38904350e-02 5.19952332e-04 9.99903388e-01 -3.13568132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304391418 meters 0.027135794188367222 Centerline is valid? [True, True] Translation: X:143.93, Y:-3.14, Z:-3.14 [[ 9.99574138e-01 2.53994227e-02 1.43670715e-02 1.43933290e+02] [-2.53892182e-02 9.99677244e-01 -8.92245862e-04 -3.13885342e+00] [-1.43850970e-02 5.27097175e-04 9.99896390e-01 -3.13615298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364391418 meters 0.02423850012256303 Centerline is valid? [True, True] Translation: X:143.99, Y:-3.14, Z:-3.14 [[ 9.99463360e-01 2.93733461e-02 1.44981932e-02 1.43994672e+02] [-2.93633616e-02 9.99568397e-01 -9.01104807e-04 -3.13509756e+00] [-1.45184042e-02 4.74905548e-04 9.99894490e-01 -3.13707751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424391418 meters 0.020942886246502198 Centerline is valid? [True, True] Translation: X:144.06, Y:-3.13, Z:-3.14 [[ 9.99218495e-01 3.68348065e-02 1.43386296e-02 1.44055356e+02] [-3.68258017e-02 9.99321302e-01 -8.91624318e-04 -3.13072308e+00] [-1.43617408e-02 3.62895979e-04 9.99896799e-01 -3.13797693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484391418 meters 0.019052022442278896 Centerline is valid? [True, True] Translation: X:144.12, Y:-3.13, Z:-3.14 [[ 9.98976710e-01 4.27778332e-02 1.46829669e-02 1.44115507e+02] [-4.27690299e-02 9.99084569e-01 -9.13180761e-04 -3.12857401e+00] [-1.47085896e-02 2.84270061e-04 9.99891782e-01 -3.13936061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544391418 meters 0.017985359374182927 Centerline is valid? [True, True] Translation: X:144.17, Y:-3.13, Z:-3.14 [[ 9.98726093e-01 4.82735206e-02 1.46921253e-02 1.44173920e+02] [-4.82652987e-02 9.98834133e-01 -9.13882213e-04 -3.12734593e+00] [-1.47191125e-02 2.03598196e-04 9.99891647e-01 -3.14117088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60439141799998 meters 0.015842842981577794 Centerline is valid? [True, True] Translation: X:144.23, Y:-3.12, Z:-3.14 [[ 9.98389605e-01 5.48711400e-02 1.43997947e-02 1.44233643e+02] [-5.48639400e-02 9.98493439e-01 -8.94865695e-04 -3.12329878e+00] [-1.44272028e-02 1.03395135e-04 9.99895917e-01 -3.14192080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66439141799998 meters 0.015433320017176124 Centerline is valid? [True, True] Translation: X:144.29, Y:-3.13, Z:-3.14 [[ 9.98330792e-01 5.59694726e-02 1.42494584e-02 1.44290999e+02] [-5.59625572e-02 9.98432477e-01 -8.83896138e-04 -3.12663072e+00] [-1.42765932e-02 8.49846011e-05 9.99898081e-01 -3.14348561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72439141799998 meters 0.016487025070974364 Centerline is valid? [True, True] Translation: X:144.35, Y:-3.14, Z:-3.14 [[ 9.98537028e-01 5.20423831e-02 1.46762949e-02 1.44348798e+02] [-5.20346460e-02 9.98644867e-01 -9.08810015e-04 -3.13564729e+00] [-1.47037032e-02 1.43804644e-04 9.99891884e-01 -3.14419013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78439141799998 meters 0.017098826787922832 Centerline is valid? [True, True] Translation: X:144.41, Y:-3.14, Z:-3.14 [[ 9.98770130e-01 4.75780645e-02 1.39483354e-02 1.44407635e+02] [-4.75706589e-02 9.98867503e-01 -8.62421629e-04 -3.14320003e+00] [-1.39735713e-02 1.97829457e-04 9.99902345e-01 -3.14475759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844391418 meters 0.019703257266437974 Centerline is valid? [True, True] Translation: X:144.47, Y:-3.16, Z:-3.15 [[ 9.99057994e-01 4.10439691e-02 1.40895871e-02 1.44466514e+02] [-4.10357828e-02 9.99157299e-01 -8.69751564e-04 -3.15525350e+00] [-1.41134118e-02 2.90755017e-04 9.99900359e-01 -3.14605213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904391418 meters 0.022492642548817453 Centerline is valid? [True, True] Translation: X:144.53, Y:-3.16, Z:-3.15 [[ 9.99245503e-01 3.62365859e-02 1.39762377e-02 1.44525947e+02] [-3.62280681e-02 9.99343176e-01 -8.62229176e-04 -3.16442883e+00] [-1.39983020e-02 3.55246533e-04 9.99901956e-01 -3.14736820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964391418 meters 0.024350897616773007 Centerline is valid? [True, True] Translation: X:144.59, Y:-3.17, Z:-3.15 [[ 9.99329740e-01 3.37862158e-02 1.40912181e-02 1.44585107e+02] [-3.37773234e-02 9.99429006e-01 -8.68642695e-04 -3.17268219e+00] [-1.41125202e-02 3.92096848e-04 9.99900337e-01 -3.14907406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024391418 meters 0.02541049710713993 Centerline is valid? [True, True] Translation: X:144.65, Y:-3.18, Z:-3.15 [[ 9.99373893e-01 3.24846700e-02 1.40202737e-02 1.44645636e+02] [-3.24757446e-02 9.99472151e-01 -8.63868606e-04 -3.17915678e+00] [-1.40409356e-02 4.08008903e-04 9.99901338e-01 -3.15035310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084391418 meters 0.023041970037530404 Centerline is valid? [True, True] Translation: X:144.71, Y:-3.18, Z:-3.15 [[ 9.99442604e-01 3.05346934e-02 1.34949588e-02 1.44705782e+02] [-3.05262445e-02 9.99533620e-01 -8.31671326e-04 -3.18012261e+00] [-1.35140599e-02 4.19257343e-04 9.99908593e-01 -3.15022398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144391418 meters 0.024167725417570455 Centerline is valid? [True, True] Translation: X:144.77, Y:-3.19, Z:-3.15 [[ 9.99523630e-01 2.81519637e-02 1.26482877e-02 1.44765497e+02] [-2.81443566e-02 9.99603566e-01 -7.79063831e-04 -3.18756669e+00] [-1.26652056e-02 4.22714791e-04 9.99919704e-01 -3.15210279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204391418 meters 0.02552339769741817 Centerline is valid? [True, True] Translation: X:144.83, Y:-3.20, Z:-3.15 [[ 9.99601936e-01 2.57427056e-02 1.15448289e-02 1.44825856e+02] [-2.57362071e-02 9.99668516e-01 -7.11130883e-04 -3.19544670e+00] [-1.15593084e-02 4.13727699e-04 9.99933103e-01 -3.15497404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264391418 meters 0.025765281424343905 Centerline is valid? [True, True] Translation: X:144.89, Y:-3.20, Z:-3.16 [[ 9.99614297e-01 2.54779491e-02 1.10512888e-02 1.44886458e+02] [-2.54719782e-02 9.99675305e-01 -6.80730122e-04 -3.19956834e+00] [-1.10650442e-02 3.98969374e-04 9.99938701e-01 -3.15724085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32439141799998 meters 0.026029984750305372 Centerline is valid? [True, True] Translation: X:144.95, Y:-3.20, Z:-3.16 [[ 9.99546864e-01 2.74991230e-02 1.22419171e-02 1.44946250e+02] [-2.74919475e-02 9.99621741e-01 -7.54069668e-04 -3.20267962e+00] [-1.22580227e-02 4.17173831e-04 9.99924781e-01 -3.15811626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38439141799998 meters 0.022727179241795504 Centerline is valid? [True, True] Translation: X:145.01, Y:-3.20, Z:-3.16 [[ 9.99452933e-01 3.04228238e-02 1.29725410e-02 1.45006628e+02] [-3.04150098e-02 9.99537037e-01 -7.99257125e-04 -3.20010333e+00] [-1.29908508e-02 4.04259916e-04 9.99915534e-01 -3.15779141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44439141799998 meters 0.021440756127065363 Centerline is valid? [True, True] Translation: X:145.07, Y:-3.20, Z:-3.16 [[ 9.99301793e-01 3.48710603e-02 1.34140119e-02 1.45066625e+02] [-3.48631073e-02 9.99391755e-01 -8.26337474e-04 -3.19877258e+00] [-1.34346682e-02 3.58106383e-04 9.99909687e-01 -3.15851507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50439141799998 meters 0.020551247513876394 Centerline is valid? [True, True] Translation: X:145.13, Y:-3.20, Z:-3.16 [[ 9.99208642e-01 3.71897629e-02 1.41071095e-02 1.45126295e+02] [-3.71812062e-02 9.99308163e-01 -8.68425732e-04 -3.19852148e+00] [-1.41296463e-02 3.43219148e-04 9.99900113e-01 -3.15964464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56439141799999 meters 0.021685018333624118 Centerline is valid? [True, True] Translation: X:145.18, Y:-3.20, Z:-3.16 [[ 9.99256208e-01 3.55841723e-02 1.48592843e-02 1.45184896e+02] [-3.55745088e-02 9.99366609e-01 -9.14230244e-04 -3.20352911e+00] [-1.48824047e-02 3.84938504e-04 9.99889177e-01 -3.16135922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624391418 meters 0.02166027467030397 Centerline is valid? [True, True] Translation: X:145.24, Y:-3.21, Z:-3.16 [[ 9.99353444e-01 3.24179120e-02 1.55490441e-02 1.45244787e+02] [-3.24069686e-02 9.99474300e-01 -9.55318168e-04 -3.20652318e+00] [-1.55718393e-02 4.50803120e-04 9.99878650e-01 -3.16186985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684391418 meters 0.0238226285469759 Centerline is valid? [True, True] Translation: X:145.31, Y:-3.21, Z:-3.16 [[ 9.99520227e-01 2.65957157e-02 1.58739949e-02 1.45305348e+02] [-2.65835776e-02 9.99646119e-01 -9.75204562e-04 -3.21268625e+00] [-1.58943136e-02 5.52749111e-04 9.99873525e-01 -3.16351821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744391418 meters 0.02739401091260806 Centerline is valid? [True, True] Translation: X:145.37, Y:-3.22, Z:-3.17 [[ 9.99668039e-01 2.03654180e-02 1.57817004e-02 1.45365580e+02] [-2.03526427e-02 9.99792393e-01 -9.69707907e-04 -3.22080041e+00] [-1.57981725e-02 6.48186693e-04 9.99874991e-01 -3.16598135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804391418 meters 0.02997092223137897 Centerline is valid? [True, True] Translation: X:145.43, Y:-3.23, Z:-3.17 [[ 9.99732667e-01 1.62828496e-02 1.64153517e-02 1.45426168e+02] [-1.62684635e-02 9.99867150e-01 -1.00954657e-03 -3.22801556e+00] [-1.64296092e-02 7.42224137e-04 9.99864749e-01 -3.16786942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864391418 meters 0.03357636774280128 Centerline is valid? [True, True] Translation: X:145.49, Y:-3.23, Z:-3.17 [[ 9.99793822e-01 1.09170010e-02 1.71211020e-02 1.45486870e+02] [-1.09005614e-02 9.99940032e-01 -1.05322936e-03 -3.23361392e+00] [-1.71315734e-02 8.66382588e-04 9.99852868e-01 -3.16924679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924391418 meters 0.03477769926391438 Centerline is valid? [True, True] Translation: X:145.55, Y:-3.24, Z:-3.17 [[ 9.99813290e-01 7.34413809e-03 1.78731132e-02 1.45547464e+02] [-7.32563912e-03 9.99972562e-01 -1.10026903e-03 -3.23567932e+00] [-1.78807033e-02 9.69131625e-04 9.99839658e-01 -3.17009051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984391418 meters 0.038021948988102676 Centerline is valid? [True, True] Translation: X:145.61, Y:-3.24, Z:-3.17 [[ 9.99805748e-01 7.11713562e-03 1.83797008e-02 1.45608749e+02] [-7.09754356e-03 9.99974173e-01 -1.13097375e-03 -3.24281845e+00] [-1.83872753e-02 1.00030333e-03 9.99830439e-01 -3.17167646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04439141799998 meters 0.03443367665677097 Centerline is valid? [True, True] Translation: X:145.67, Y:-3.24, Z:-3.17 [[ 9.99814670e-01 7.58483480e-03 1.76945047e-02 1.45672344e+02] [-7.56667739e-03 9.99970775e-01 -1.09288580e-03 -3.23786814e+00] [-1.77022770e-02 9.58794644e-04 9.99842843e-01 -3.17340972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10439141799998 meters 0.03537556674848311 Centerline is valid? [True, True] Translation: X:145.73, Y:-3.24, Z:-3.17 [[ 9.99778239e-01 9.22116885e-03 1.89325783e-02 1.45733307e+02] [-9.20054270e-03 9.99956982e-01 -1.17626854e-03 -3.23824093e+00] [-1.89426104e-02 1.00181770e-03 9.99820071e-01 -3.17398110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16439141799998 meters 0.034245526210130495 Centerline is valid? [True, True] Translation: X:145.80, Y:-3.24, Z:-3.18 [[ 9.99772964e-01 1.16796865e-02 1.78214746e-02 1.45795464e+02] [-1.16617081e-02 9.99931381e-01 -1.11239612e-03 -3.23533051e+00] [-1.78332441e-02 9.04314734e-04 9.99840566e-01 -3.17721047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22439141799998 meters 0.03299722240713357 Centerline is valid? [True, True] Translation: X:145.86, Y:-3.23, Z:-3.18 [[ 9.99757969e-01 1.42791891e-02 1.67364165e-02 1.45856784e+02] [-1.42636797e-02 9.99897722e-01 -1.04569480e-03 -3.23368162e+00] [-1.67496364e-02 8.06718826e-04 9.99859390e-01 -3.17998320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28439141799998 meters 0.029914280758094304 Centerline is valid? [True, True] Translation: X:145.92, Y:-3.23, Z:-3.18 [[ 9.99666091e-01 1.96118256e-02 1.68250529e-02 1.45918043e+02] [-1.95968920e-02 9.99807409e-01 -1.05201007e-03 -3.22589519e+00] [-1.68424444e-02 7.21940051e-04 9.99857895e-01 -3.18147626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344391418 meters 0.027920190190861387 Centerline is valid? [True, True] Translation: X:145.98, Y:-3.22, Z:-3.18 [[ 9.99517573e-01 2.53954347e-02 1.78799547e-02 1.45978875e+02] [-2.53794849e-02 9.99677263e-01 -1.11843284e-03 -3.21878734e+00] [-1.79025873e-02 6.64109235e-04 9.99839515e-01 -3.18133575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404391418 meters 0.023942812064633123 Centerline is valid? [True, True] Translation: X:146.04, Y:-3.21, Z:-3.18 [[ 9.99295939e-01 3.24178710e-02 1.88867046e-02 1.46039979e+02] [-3.24013267e-02 9.99474241e-01 -1.18140739e-03 -3.20857857e+00] [-1.89150735e-02 5.68621321e-04 9.99820932e-01 -3.18154685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464391418 meters 0.021869290911683954 Centerline is valid? [True, True] Translation: X:146.10, Y:-3.20, Z:-3.18 [[ 9.99100700e-01 3.78393039e-02 1.91305830e-02 1.46100141e+02] [-3.78233223e-02 9.99283726e-01 -1.19666255e-03 -3.20479281e+00] [-1.91621612e-02 4.72004187e-04 9.99816278e-01 -3.18358427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524391418 meters 0.01967284439331274 Centerline is valid? [True, True] Translation: X:146.16, Y:-3.20, Z:-3.19 [[ 9.98834312e-01 4.46268914e-02 1.83972018e-02 1.46159429e+02] [-4.46132584e-02 9.99003670e-01 -1.15099165e-03 -3.19855399e+00] [-1.84302373e-02 3.28890830e-04 9.99830095e-01 -3.18566072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584391418 meters 0.018417753937826305 Centerline is valid? [True, True] Translation: X:146.22, Y:-3.20, Z:-3.19 [[ 9.98732528e-01 4.70939706e-02 1.77621794e-02 1.46218031e+02] [-4.70816684e-02 9.98890426e-01 -1.11037717e-03 -3.19609019e+00] [-1.77947631e-02 2.72696753e-04 9.99841623e-01 -3.18786523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644391418 meters 0.01885922567250875 Centerline is valid? [True, True] Translation: X:146.28, Y:-3.20, Z:-3.19 [[ 9.98802976e-01 4.58886109e-02 1.69366804e-02 1.46276442e+02] [-4.58772725e-02 9.98946524e-01 -1.05759033e-03 -3.19970398e+00] [-1.69673693e-02 2.79315668e-04 9.99856005e-01 -3.19048743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704391418 meters 0.02172630161753022 Centerline is valid? [True, True] Translation: X:146.34, Y:-3.21, Z:-3.19 [[ 9.99069428e-01 4.02051888e-02 1.56147556e-02 1.46335303e+02] [-4.01948752e-02 9.99191385e-01 -9.73905019e-04 -3.20746823e+00] [-1.56412853e-02 3.45365578e-04 9.99877608e-01 -3.19341889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764391418 meters 0.02683654262719552 Centerline is valid? [True, True] Translation: X:146.39, Y:-3.22, Z:-3.20 [[ 9.99351646e-01 3.29820213e-02 1.44386594e-02 1.46394117e+02] [-3.29724651e-02 9.99455856e-01 -8.99460778e-04 -3.21811345e+00] [-1.44604687e-02 4.22799415e-04 9.99895353e-01 -3.19637558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82439141799998 meters 0.027329124015572477 Centerline is valid? [True, True] Translation: X:146.45, Y:-3.22, Z:-3.20 [[ 9.99578314e-01 2.51101392e-02 1.45833747e-02 1.46454352e+02] [-2.50995521e-02 9.99684544e-01 -9.08568677e-04 -3.22210019e+00] [-1.46015885e-02 5.42149373e-04 9.99893244e-01 -3.19607301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88439141799998 meters 0.030077973710674586 Centerline is valid? [True, True] Translation: X:146.51, Y:-3.23, Z:-3.20 [[ 9.99665126e-01 2.11283934e-02 1.49407971e-02 1.46514511e+02] [-2.11168434e-02 9.99776582e-01 -9.30408605e-04 -3.22828653e+00] [-1.49571171e-02 6.14594562e-04 9.99887947e-01 -3.19680282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94439141799998 meters 0.03311853750179218 Centerline is valid? [True, True] Translation: X:146.58, Y:-3.23, Z:-3.20 [[ 9.99738167e-01 1.74070003e-02 1.48523740e-02 1.46575519e+02] [-1.73951807e-02 9.99848265e-01 -9.24629964e-04 -3.23450785e+00] [-1.48662155e-02 6.66028135e-04 9.99889270e-01 -3.19802556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00439141799998 meters 0.037394370704427124 Centerline is valid? [True, True] Translation: X:146.64, Y:-3.24, Z:-3.20 [[ 9.99801231e-01 1.15650705e-02 1.62402917e-02 1.46635674e+02] [-1.15501549e-02 9.99932783e-01 -1.01192668e-03 -3.24285067e+00] [-1.62509031e-02 8.24147653e-04 9.99867606e-01 -3.19759359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06439141799999 meters 0.0424980428801661 Centerline is valid? [True, True] Translation: X:146.69, Y:-3.25, Z:-3.20 [[ 9.99842520e-01 6.51035299e-03 1.65091281e-02 1.46694906e+02] [-6.49424952e-03 9.99978383e-01 -1.02885226e-03 -3.25095194e+00] [-1.65154694e-02 9.21475843e-04 9.99863186e-01 -3.19874481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124391418 meters 0.04591756646003915 Centerline is valid? [True, True] Translation: X:146.76, Y:-3.26, Z:-3.20 [[ 9.99864152e-01 3.62204401e-03 1.60797272e-02 1.46755599e+02] [-3.60640476e-03 9.99992995e-01 -1.00149691e-03 -3.25607272e+00] [-1.60832420e-02 9.43370856e-04 9.99870211e-01 -3.20020676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184391418 meters 0.040767101622129855 Centerline is valid? [True, True] Translation: X:146.82, Y:-3.25, Z:-3.20 [[ 9.99867532e-01 4.32813982e-03 1.56902818e-02 1.46818260e+02] [-4.31334706e-03 9.99990221e-01 -9.76516027e-04 -3.25067121e+00] [-1.56943548e-02 9.08709040e-04 9.99876423e-01 -3.20098119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244391418 meters 0.03787525708446369 Centerline is valid? [True, True] Translation: X:146.88, Y:-3.25, Z:-3.20 [[ 9.99866006e-01 8.54319169e-03 1.39636313e-02 1.46879361e+02] [-8.53181414e-03 9.99963221e-01 -8.74167799e-04 -3.24530692e+00] [-1.39705859e-02 7.54915559e-04 9.99902122e-01 -3.20327961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304391418 meters 0.03941113268420798 Centerline is valid? [True, True] Translation: X:146.94, Y:-3.25, Z:-3.21 [[ 9.99766836e-01 1.68248886e-02 1.35349998e-02 1.46938615e+02] [-1.68149479e-02 9.99858259e-01 -8.47917729e-04 -3.24527513e+00] [-1.35473474e-02 6.20129710e-04 9.99908038e-01 -3.20640545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364391418 meters 0.024252750230386748 Centerline is valid? [True, True] Translation: X:147.00, Y:-3.22, Z:-3.21 [[ 9.99538436e-01 2.78810990e-02 1.20648114e-02 1.47000928e+02] [-2.78740093e-02 9.99611159e-01 -7.55427871e-04 -3.22100841e+00] [-1.20811822e-02 4.18784528e-04 9.99926932e-01 -3.20642663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424391418 meters 0.020724880364502242 Centerline is valid? [True, True] Translation: X:147.06, Y:-3.21, Z:-3.21 [[ 9.99260171e-01 3.66382188e-02 1.16941210e-02 1.47061516e+02] [-3.66321561e-02 9.99328549e-01 -7.32290595e-04 -3.21376260e+00] [-1.17130988e-02 3.03367958e-04 9.99931353e-01 -3.20760520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484391418 meters 0.0165745275995797 Centerline is valid? [True, True] Translation: X:147.12, Y:-3.20, Z:-3.21 [[ 9.98684487e-01 4.97918977e-02 1.22500009e-02 1.47123027e+02] [-4.97862352e-02 9.98759602e-01 -7.66949857e-04 -3.20270345e+00] [-1.22729939e-02 1.56059500e-04 9.99924672e-01 -3.20791316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54439141799998 meters 0.015209123850309144 Centerline is valid? [True, True] Translation: X:147.18, Y:-3.20, Z:-3.21 [[ 9.98243854e-01 5.75516540e-02 1.40362166e-02 1.47182440e+02] [-5.75449806e-02 9.98342528e-01 -8.79195482e-04 -3.19797630e+00] [-1.40635511e-02 6.99376757e-05 9.99901101e-01 -3.20813977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60439141799998 meters 0.015079716185452237 Centerline is valid? [True, True] Translation: X:147.24, Y:-3.19, Z:-3.21 [[ 9.97598164e-01 6.75664663e-02 1.52537195e-02 1.47241886e+02] [-6.75597748e-02 9.97714772e-01 -9.54140093e-04 -3.19106134e+00] [-1.52833292e-02 -7.86894506e-05 9.99883200e-01 -3.20757851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66439141799998 meters 0.016054290493375905 Centerline is valid? [True, True] Translation: X:147.30, Y:-3.19, Z:-3.21 [[ 9.97196194e-01 7.31885610e-02 1.55944123e-02 1.47301028e+02] [-7.31822548e-02 9.97318107e-01 -9.75419890e-04 -3.18899134e+00] [-1.56239793e-02 -1.68549251e-04 9.99877924e-01 -3.20963568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72439141799998 meters 0.015397130242504138 Centerline is valid? [True, True] Translation: X:147.36, Y:-3.20, Z:-3.21 [[ 9.97424883e-01 7.00585330e-02 1.53428928e-02 1.47359295e+02] [-7.00521440e-02 9.97542875e-01 -9.54112932e-04 -3.19583820e+00] [-1.53720371e-02 -1.23146555e-04 9.99881836e-01 -3.21255698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78439141799998 meters 0.014857318885145455 Centerline is valid? [True, True] Translation: X:147.42, Y:-3.21, Z:-3.22 [[ 9.97892959e-01 6.32067390e-02 1.46475288e-02 1.47416594e+02] [-6.32001916e-02 9.98000455e-01 -9.09917696e-04 -3.20629929e+00] [-1.46757533e-02 -1.77261647e-05 9.99892305e-01 -3.21541458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844391418 meters 0.016124534704064962 Centerline is valid? [True, True] Translation: X:147.47, Y:-3.22, Z:-3.22 [[ 9.98648130e-01 4.97806883e-02 1.49597720e-02 1.47474665e+02] [-4.97723762e-02 9.98760156e-01 -9.27663386e-04 -3.22396194e+00] [-1.49874040e-02 1.81825905e-04 9.99887666e-01 -3.21668828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904391418 meters 0.018023763658271675 Centerline is valid? [True, True] Translation: X:147.53, Y:-3.24, Z:-3.22 [[ 9.98996832e-01 4.21767156e-02 1.50484166e-02 1.47533343e+02] [-4.21674592e-02 9.99110122e-01 -9.32013558e-04 -3.23578096e+00] [-1.50743346e-02 2.96525098e-04 9.99886332e-01 -3.21758106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964391418 meters 0.02016005104616029 Centerline is valid? [True, True] Translation: X:147.59, Y:-3.25, Z:-3.22 [[ 9.99195899e-01 3.66781514e-02 1.61947089e-02 1.47592241e+02] [-3.66667369e-02 9.99327047e-01 -1.00128678e-03 -3.24706367e+00] [-1.62205360e-02 4.06674510e-04 9.99868356e-01 -3.21856718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024391418 meters 0.02173685241269866 Centerline is valid? [True, True] Translation: X:147.65, Y:-3.26, Z:-3.22 [[ 9.99326621e-01 3.18629759e-02 1.81949223e-02 1.47650798e+02] [-3.18477835e-02 9.99492098e-01 -1.12420211e-03 -3.25840547e+00] [-1.82215015e-02 5.43977151e-04 9.99833827e-01 -3.21829210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084391418 meters 0.023479611350853864 Centerline is valid? [True, True] Translation: X:147.71, Y:-3.27, Z:-3.22 [[ 9.99304215e-01 3.13657496e-02 2.01810835e-02 1.47708668e+02] [-3.13469858e-02 9.99507786e-01 -1.24552330e-03 -3.26767797e+00] [-2.02102168e-02 6.12040551e-04 9.99795565e-01 -3.21892463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144391418 meters 0.020811755776218497 Centerline is valid? [True, True] Translation: X:147.77, Y:-3.27, Z:-3.22 [[ 9.99196374e-01 3.44003533e-02 2.05723695e-02 1.47768315e+02] [-3.43815169e-02 9.99407976e-01 -1.26871334e-03 -3.26985384e+00] [-2.06038343e-02 5.60384498e-04 9.99787561e-01 -3.22046816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204391418 meters 0.01761587644786558 Centerline is valid? [True, True] Translation: X:147.83, Y:-3.27, Z:-3.22 [[ 9.98918990e-01 4.18147921e-02 2.03070026e-02 1.47828286e+02] [-4.17979856e-02 9.99125298e-01 -1.25154316e-03 -3.26969606e+00] [-2.03415731e-02 4.01398430e-04 9.99793008e-01 -3.22314710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264391418 meters 0.014841137522647428 Centerline is valid? [True, True] Translation: X:147.89, Y:-3.27, Z:-3.23 [[ 9.98462814e-01 5.15600662e-02 2.03363775e-02 1.47888326e+02] [-5.15452459e-02 9.98669875e-01 -1.25261188e-03 -3.26805113e+00] [-2.03739123e-02 2.02442800e-04 9.99792410e-01 -3.22584857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32439141799998 meters 0.013795184718693211 Centerline is valid? [True, True] Translation: X:147.95, Y:-3.27, Z:-3.23 [[ 9.98018784e-01 5.96457828e-02 2.00221935e-02 1.47947668e+02] [-5.96330648e-02 9.98219605e-01 -1.23218212e-03 -3.26706066e+00] [-2.00600406e-02 3.57561395e-05 9.99798777e-01 -3.22803069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38439141799998 meters 0.013820698808680977 Centerline is valid? [True, True] Translation: X:148.01, Y:-3.27, Z:-3.23 [[ 9.97842573e-01 6.25164953e-02 2.00471257e-02 1.48006069e+02] [-6.25043547e-02 9.98043931e-01 -1.23222805e-03 -3.26927788e+00] [-2.00849467e-02 -2.34630513e-05 9.99798277e-01 -3.22932748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44439141799998 meters 0.01368702564664968 Centerline is valid? [True, True] Translation: X:148.06, Y:-3.27, Z:-3.23 [[ 9.97844012e-01 6.24376729e-02 2.02204222e-02 1.48063834e+02] [-6.24253553e-02 9.98048865e-01 -1.24040685e-03 -3.27373261e+00] [-2.02584176e-02 -2.45344974e-05 9.99794777e-01 -3.23039455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50439141799998 meters 0.013873644707708554 Centerline is valid? [True, True] Translation: X:148.12, Y:-3.28, Z:-3.23 [[ 9.98029100e-01 5.89861248e-02 2.14138523e-02 1.48121293e+02] [-5.89715744e-02 9.98258802e-01 -1.31087926e-03 -3.28252179e+00] [-2.14538902e-02 4.54870603e-05 9.99769838e-01 -3.23079025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56439141799999 meters 0.014289664134127035 Centerline is valid? [True, True] Translation: X:148.18, Y:-3.29, Z:-3.23 [[ 9.98287010e-01 5.41154251e-02 2.22388485e-02 1.48179700e+02] [-5.40985841e-02 9.98534675e-01 -1.35863953e-03 -3.29440127e+00] [-2.22797847e-02 1.53221981e-04 9.99751763e-01 -3.23188105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624391418 meters 0.015034350520103074 Centerline is valid? [True, True] Translation: X:148.24, Y:-3.30, Z:-3.23 [[ 9.98466946e-01 4.99608792e-02 2.38257800e-02 1.48237980e+02] [-4.99404133e-02 9.98751141e-01 -1.45360314e-03 -3.30453461e+00] [-2.38686482e-02 2.61505386e-04 9.99715069e-01 -3.23232014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684391418 meters 0.015419035308622039 Centerline is valid? [True, True] Translation: X:148.30, Y:-3.31, Z:-3.23 [[ 9.98548244e-01 4.81217590e-02 2.42012349e-02 1.48296599e+02] [-4.81001508e-02 9.98841429e-01 -1.47452882e-03 -3.31228763e+00] [-2.42441530e-02 3.08305118e-04 9.99706020e-01 -3.23381881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744391418 meters 0.016732318923357886 Centerline is valid? [True, True] Translation: X:148.36, Y:-3.32, Z:-3.23 [[ 9.98593178e-01 4.69925671e-02 2.45634477e-02 1.48355078e+02] [-4.69700141e-02 9.98895182e-01 -1.49462492e-03 -3.32355047e+00] [-2.46065458e-02 3.38776763e-04 9.99697156e-01 -3.23488554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804391418 meters 0.01583060060596094 Centerline is valid? [True, True] Translation: X:148.41, Y:-3.33, Z:-3.24 [[ 9.98458652e-01 4.98259397e-02 2.44478326e-02 1.48414956e+02] [-4.98044820e-02 9.98757881e-01 -1.48618597e-03 -3.32811168e+00] [-2.44915161e-02 2.66283597e-04 9.99700002e-01 -3.23640405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864391418 meters 0.014385668974235367 Centerline is valid? [True, True] Translation: X:148.47, Y:-3.33, Z:-3.24 [[ 9.98246671e-01 5.38170149e-02 2.46437170e-02 1.48474291e+02] [-5.37964515e-02 9.98550800e-01 -1.49712266e-03 -3.32840270e+00] [-2.46885740e-02 1.68753183e-04 9.99695176e-01 -3.23840592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924391418 meters 0.013948152567327841 Centerline is valid? [True, True] Translation: X:148.53, Y:-3.33, Z:-3.24 [[ 9.97895091e-01 6.00846965e-02 2.43970766e-02 1.48532208e+02] [-6.00664532e-02 9.98193282e-01 -1.48057197e-03 -3.33020039e+00] [-2.44419577e-02 1.20096387e-05 9.99701251e-01 -3.24031084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984391418 meters 0.013899320624906456 Centerline is valid? [True, True] Translation: X:148.59, Y:-3.34, Z:-3.24 [[ 9.97737188e-01 6.31617385e-02 2.30455795e-02 1.48591022e+02] [-6.31463311e-02 9.98003302e-01 -1.39639686e-03 -3.33622679e+00] [-2.30877633e-02 -6.20067169e-05 9.99733440e-01 -3.24356853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04439141799998 meters 0.01400099958113681 Centerline is valid? [True, True] Translation: X:148.65, Y:-3.34, Z:-3.25 [[ 9.97850549e-01 6.18563134e-02 2.16351007e-02 1.48648374e+02] [-6.18424620e-02 9.98085064e-01 -1.30934916e-03 -3.34491801e+00] [-2.16746623e-02 -3.14331109e-05 9.99765076e-01 -3.24667148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10439141799998 meters 0.014250498495084144 Centerline is valid? [True, True] Translation: X:148.71, Y:-3.36, Z:-3.25 [[ 9.98259150e-01 5.56698817e-02 1.94816322e-02 1.48705502e+02] [-5.56575141e-02 9.98449226e-01 -1.17688361e-03 -3.36006516e+00] [-1.95169375e-02 9.05356173e-05 9.99809522e-01 -3.25006886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16439141799998 meters 0.015619883573687682 Centerline is valid? [True, True] Translation: X:148.76, Y:-3.38, Z:-3.25 [[ 9.98688236e-01 4.80887488e-02 1.75863327e-02 1.48763429e+02] [-4.80775250e-02 9.98843044e-01 -1.06068626e-03 -3.37751195e+00] [-1.76169932e-02 2.13787535e-04 9.99844786e-01 -3.25263654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22439141799998 meters 0.017430240204527454 Centerline is valid? [True, True] Translation: X:148.82, Y:-3.39, Z:-3.25 [[ 9.98925521e-01 4.31967863e-02 1.67881357e-02 1.48822639e+02] [-4.31858847e-02 9.99066542e-01 -1.01152252e-03 -3.39288596e+00] [-1.68161592e-02 2.85425164e-04 9.99858558e-01 -3.25387242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28439141799998 meters 0.018079919585959326 Centerline is valid? [True, True] Translation: X:148.88, Y:-3.40, Z:-3.25 [[ 9.98942406e-01 4.25372401e-02 1.74543243e-02 1.48880490e+02] [-4.25253662e-02 9.99094835e-01 -1.05104297e-03 -3.40288295e+00] [-1.74832337e-02 3.07679857e-04 9.99847109e-01 -3.25490938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344391418 meters 0.017029109688316533 Centerline is valid? [True, True] Translation: X:148.94, Y:-3.41, Z:-3.26 [[ 9.98820807e-01 4.53351848e-02 1.73700074e-02 1.48939896e+02] [-4.53238668e-02 9.98971799e-01 -1.04489712e-03 -3.41136155e+00] [-1.73995182e-02 2.56389081e-04 9.99848584e-01 -3.25610759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404391418 meters 0.014931553855924158 Centerline is valid? [True, True] Translation: X:149.00, Y:-3.42, Z:-3.26 [[ 9.98650773e-01 4.94899133e-02 1.57283733e-02 1.48998876e+02] [-4.94811482e-02 9.98774610e-01 -9.46185850e-04 -3.41705681e+00] [-1.57559266e-02 1.66651259e-04 9.99875854e-01 -3.25811043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464391418 meters 0.014600388923521224 Centerline is valid? [True, True] Translation: X:149.06, Y:-3.42, Z:-3.26 [[ 9.98525557e-01 5.23177434e-02 1.44763956e-02 1.49057723e+02] [-5.23106431e-02 9.98630483e-01 -8.68952684e-04 -3.42386694e+00] [-1.45020315e-02 1.10401901e-04 9.99894834e-01 -3.26037200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524391418 meters 0.014089330502995472 Centerline is valid? [True, True] Translation: X:149.12, Y:-3.43, Z:-3.26 [[ 9.98317797e-01 5.65397346e-02 1.28387611e-02 1.49115088e+02] [-5.65345074e-02 9.98400349e-01 -7.69994528e-04 -3.43169812e+00] [-1.28617588e-02 4.28662082e-05 9.99917283e-01 -3.26301428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584391418 meters 0.014545073152304869 Centerline is valid? [True, True] Translation: X:149.17, Y:-3.44, Z:-3.27 [[ 9.98021869e-01 6.18239217e-02 1.14084115e-02 1.49173980e+02] [-6.18201515e-02 9.98087071e-01 -6.83165550e-04 -3.43857572e+00] [-1.14288240e-02 -2.34555667e-05 9.99934689e-01 -3.26673458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644391418 meters 0.01522594479759596 Centerline is valid? [True, True] Translation: X:149.23, Y:-3.44, Z:-3.27 [[ 9.97780165e-01 6.56914904e-02 1.09256524e-02 1.49232974e+02] [-6.56882731e-02 9.97839979e-01 -6.53453602e-04 -3.44420606e+00] [-1.09449791e-02 -6.56841941e-05 9.99940100e-01 -3.26846007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704391418 meters 0.016432125627412406 Centerline is valid? [True, True] Translation: X:149.29, Y:-3.45, Z:-3.27 [[ 9.97533807e-01 6.93863280e-02 1.05754767e-02 1.49291221e+02] [-6.93835297e-02 9.97589859e-01 -6.31707308e-04 -3.45262077e+00] [-1.05938202e-02 -1.03614508e-04 9.99943879e-01 -3.26951161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764391418 meters 0.016698489124609233 Centerline is valid? [True, True] Translation: X:149.35, Y:-3.46, Z:-3.27 [[ 9.97558622e-01 6.91190908e-02 9.96730272e-03 1.49348753e+02] [-6.91165967e-02 9.97608411e-01 -5.94886581e-04 -3.46452228e+00] [-9.98458305e-03 -9.54718049e-05 9.99950148e-01 -3.27122016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82439141799998 meters 0.016389523688959004 Centerline is valid? [True, True] Translation: X:149.41, Y:-3.47, Z:-3.27 [[ 9.97665171e-01 6.75999648e-02 9.71862226e-03 1.49406876e+02] [-6.75975332e-02 9.97712503e-01 -5.78843303e-04 -3.47217714e+00] [-9.73552073e-03 -7.94630888e-05 9.99952606e-01 -3.27297030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88439141799998 meters 0.01474754797980233 Centerline is valid? [True, True] Translation: X:149.47, Y:-3.49, Z:-3.27 [[ 9.98051511e-01 6.13978213e-02 1.11125997e-02 1.49465060e+02] [-6.13942704e-02 9.98113374e-01 -6.60714363e-04 -3.49146780e+00] [-1.11322008e-02 -2.28229849e-05 9.99938035e-01 -3.27238142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94439141799998 meters 0.014602523228513626 Centerline is valid? [True, True] Translation: X:149.52, Y:-3.51, Z:-3.27 [[ 9.98343951e-01 5.62228962e-02 1.21795290e-02 1.49521930e+02] [-5.62182573e-02 9.98418241e-01 -7.23183647e-04 -3.50617177e+00] [-1.22009234e-02 3.72741269e-05 9.99925565e-01 -3.27171782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00439141799998 meters 0.016150151644752746 Centerline is valid? [True, True] Translation: X:149.58, Y:-3.52, Z:-3.27 [[ 9.98669616e-01 4.99431642e-02 1.28326737e-02 1.49579915e+02] [-4.99375183e-02 9.98752054e-01 -7.60215980e-04 -3.52465558e+00] [-1.28546268e-02 1.18372725e-04 9.99917369e-01 -3.27184127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06439141799999 meters 0.01687381516624226 Centerline is valid? [True, True] Translation: X:149.64, Y:-3.54, Z:-3.27 [[ 9.98857011e-01 4.61144484e-02 1.25749698e-02 1.49638899e+02] [-4.61087341e-02 9.98936150e-01 -7.44108988e-04 -3.53822051e+00] [-1.25959061e-02 1.63442542e-04 9.99920655e-01 -3.27203728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124391418 meters 0.016858899188499827 Centerline is valid? [True, True] Translation: X:149.70, Y:-3.55, Z:-3.27 [[ 9.98874044e-01 4.56873221e-02 1.27794097e-02 1.49698244e+02] [-4.56813928e-02 9.98955774e-01 -7.55643488e-04 -3.54610028e+00] [-1.28005884e-02 1.71011433e-04 9.99918054e-01 -3.27306833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184391418 meters 0.016215413027759827 Centerline is valid? [True, True] Translation: X:149.76, Y:-3.55, Z:-3.28 [[ 9.98747336e-01 4.85703906e-02 1.20280991e-02 1.49757469e+02] [-4.85653551e-02 9.98819754e-01 -7.10548847e-04 -3.55111262e+00] [-1.20484146e-02 1.25509867e-04 9.99927407e-01 -3.27530327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244391418 meters 0.014556581407782643 Centerline is valid? [True, True] Translation: X:149.82, Y:-3.55, Z:-3.27 [[ 9.98416551e-01 5.47253331e-02 1.30202860e-02 1.49817556e+02] [-5.47199570e-02 9.98501445e-01 -7.69055800e-04 -3.55226899e+00] [-1.30428612e-02 5.53685506e-05 9.99914937e-01 -3.27487976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304391418 meters 0.014407422847171692 Centerline is valid? [True, True] Translation: X:149.88, Y:-3.55, Z:-3.28 [[ 9.98047511e-01 6.08929530e-02 1.39001160e-02 1.49875014e+02] [-6.08874259e-02 9.98144302e-01 -8.20869997e-04 -3.55302928e+00] [-1.39243067e-02 -2.70750224e-05 9.99903052e-01 -3.27572802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364391418 meters 0.014728155519252037 Centerline is valid? [True, True] Translation: X:149.93, Y:-3.56, Z:-3.28 [[ 9.97949766e-01 6.25665875e-02 1.34791117e-02 1.49933714e+02] [-6.25615637e-02 9.98040791e-01 -7.94456962e-04 -3.55657156e+00] [-1.35024097e-02 -5.04461629e-05 9.99908837e-01 -3.27787503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424391418 meters 0.014425082782979272 Centerline is valid? [True, True] Translation: X:149.99, Y:-3.57, Z:-3.28 [[ 9.98204754e-01 5.86373152e-02 1.22038361e-02 1.49991584e+02] [-5.86329134e-02 9.98279352e-01 -7.18476165e-04 -3.56774950e+00] [-1.22249671e-02 1.63985852e-06 9.99925272e-01 -3.28105613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484391418 meters 0.016105180940682768 Centerline is valid? [True, True] Translation: X:150.05, Y:-3.58, Z:-3.28 [[ 9.98748484e-01 4.87573383e-02 1.11439271e-02 1.50050397e+02] [-4.87530666e-02 9.98810648e-01 -6.54813059e-04 -3.58430368e+00] [-1.11626000e-02 1.10692929e-04 9.99937690e-01 -3.28338947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54439141799998 meters 0.019048531350073096 Centerline is valid? [True, True] Translation: X:150.11, Y:-3.60, Z:-3.28 [[ 9.99068132e-01 4.14437771e-02 1.20532944e-02 1.50109761e+02] [-4.14382573e-02 9.99140816e-01 -7.07437962e-04 -3.59675835e+00] [-1.20722573e-02 2.07311209e-04 9.99927106e-01 -3.28332300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60439141799998 meters 0.02357259527797153 Centerline is valid? [True, True] Translation: X:150.17, Y:-3.61, Z:-3.28 [[ 9.99347617e-01 3.34457025e-02 1.36281378e-02 1.50169216e+02] [-3.34379120e-02 9.99440477e-01 -7.99171360e-04 -3.61098085e+00] [-1.36472414e-02 3.42953523e-04 9.99906813e-01 -3.28182997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66439141799998 meters 0.026505250878053613 Centerline is valid? [True, True] Translation: X:150.23, Y:-3.62, Z:-3.28 [[ 9.99448573e-01 2.94414042e-02 1.53542609e-02 1.50230485e+02] [-2.94310619e-02 9.99566408e-01 -8.99152718e-04 -3.62140290e+00] [-1.53740757e-02 4.46764698e-04 9.99881712e-01 -3.28136491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72439141799998 meters 0.027529691789897576 Centerline is valid? [True, True] Translation: X:150.29, Y:-3.63, Z:-3.28 [[ 9.99456233e-01 2.90484421e-02 1.56021519e-02 1.50292946e+02] [-2.90376510e-02 9.99577897e-01 -9.17781264e-04 -3.62675535e+00] [-1.56222263e-02 4.64232364e-04 9.99877858e-01 -3.28242406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78439141799998 meters 0.02421949988384693 Centerline is valid? [True, True] Translation: X:150.36, Y:-3.63, Z:-3.28 [[ 9.99387857e-01 3.10944202e-02 1.60327504e-02 1.50355836e+02] [-3.10831976e-02 9.99516350e-01 -9.48755581e-04 -3.62590087e+00] [-1.60544972e-02 4.49825658e-04 9.99871017e-01 -3.28277497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844391418 meters 0.023544328726634804 Centerline is valid? [True, True] Translation: X:150.42, Y:-3.63, Z:-3.29 [[ 9.99181555e-01 3.72646943e-02 1.57341171e-02 1.50416766e+02] [-3.72546182e-02 9.99305370e-01 -9.33116440e-04 -3.62698852e+00] [-1.57579600e-02 3.46184210e-04 9.99875776e-01 -3.28562458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904391418 meters 0.018751529253572714 Centerline is valid? [True, True] Translation: X:150.48, Y:-3.62, Z:-3.29 [[ 9.98962813e-01 4.24845481e-02 1.63817427e-02 1.50479614e+02] [-4.24743388e-02 9.99097086e-01 -9.70793515e-04 -3.62123031e+00] [-1.64081951e-02 2.73982931e-04 9.99865339e-01 -3.28546765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964391418 meters 0.01592837589251862 Centerline is valid? [True, True] Translation: X:150.54, Y:-3.62, Z:-3.29 [[ 9.98598646e-01 5.08077707e-02 1.48092835e-02 1.50541745e+02] [-5.08002603e-02 9.98708443e-01 -8.83123061e-04 -3.61524627e+00] [-1.48350259e-02 1.29570037e-04 9.99889947e-01 -3.28874319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024391418 meters 0.015665561099954945 Centerline is valid? [True, True] Translation: X:150.60, Y:-3.62, Z:-3.29 [[ 9.98548532e-01 5.20495498e-02 1.38445940e-02 1.50602034e+02] [-5.20430869e-02 9.98644498e-01 -8.26928759e-04 -3.61610634e+00] [-1.38688689e-02 1.05213092e-04 9.99903817e-01 -3.29156922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084391418 meters 0.016075784625793225 Centerline is valid? [True, True] Translation: X:150.66, Y:-3.62, Z:-3.29 [[ 9.98622987e-01 5.05290886e-02 1.41046517e-02 1.50661270e+02] [-5.05222242e-02 9.98722581e-01 -8.42804382e-04 -3.62006742e+00] [-1.41292203e-02 1.29045454e-04 9.99900169e-01 -3.29277066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144391418 meters 0.016928194341517343 Centerline is valid? [True, True] Translation: X:150.72, Y:-3.63, Z:-3.29 [[ 9.98741463e-01 4.79533704e-02 1.46957003e-02 1.50720384e+02] [-4.79456520e-02 9.98849561e-01 -8.77283707e-04 -3.62635092e+00] [-1.47208625e-02 1.71584680e-04 9.99891628e-01 -3.29322730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204391418 meters 0.019331240636334186 Centerline is valid? [True, True] Translation: X:150.78, Y:-3.63, Z:-3.29 [[ 9.99007911e-01 4.19675810e-02 1.48968604e-02 1.50780847e+02] [-4.19589937e-02 9.99118938e-01 -8.88666692e-04 -3.63475053e+00] [-1.49210306e-02 2.62727782e-04 9.99888641e-01 -3.29361768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264391418 meters 0.020803127250226795 Centerline is valid? [True, True] Translation: X:150.84, Y:-3.64, Z:-3.29 [[ 9.99178415e-01 3.75791693e-02 1.51757024e-02 1.50841865e+02] [-3.75697488e-02 9.99293598e-01 -9.05477682e-04 -3.64214990e+00] [-1.51990093e-02 3.34586428e-04 9.99884432e-01 -3.29443584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32439141799998 meters 0.023436798635542384 Centerline is valid? [True, True] Translation: X:150.90, Y:-3.65, Z:-3.29 [[ 9.99306636e-01 3.34054516e-02 1.64415095e-02 1.50902511e+02] [-3.33938377e-02 9.99441789e-01 -9.80492273e-04 -3.65275889e+00] [-1.64650854e-02 4.30767336e-04 9.99864348e-01 -3.29479519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38439141799998 meters 0.02385559640250164 Centerline is valid? [True, True] Translation: X:150.96, Y:-3.66, Z:-3.30 [[ 9.99318196e-01 3.28092600e-02 1.69320802e-02 1.50964166e+02] [-3.27967755e-02 9.99461526e-01 -1.01455167e-03 -3.65805960e+00] [-1.69562494e-02 4.58542310e-04 9.99856127e-01 -3.29563255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44439141799998 meters 0.023089788459785404 Centerline is valid? [True, True] Translation: X:151.03, Y:-3.66, Z:-3.30 [[ 9.99239105e-01 3.55191032e-02 1.61122672e-02 1.51026648e+02] [-3.55080773e-02 9.99368919e-01 -9.69964642e-04 -3.65912955e+00] [-1.61365513e-02 3.97110973e-04 9.99869719e-01 -3.29786359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50439141799998 meters 0.02163458143813874 Centerline is valid? [True, True] Translation: X:151.09, Y:-3.66, Z:-3.30 [[ 9.99097742e-01 3.93103285e-02 1.60748264e-02 1.51088637e+02] [-3.92997686e-02 9.99226993e-01 -9.72404739e-04 -3.65948288e+00] [-1.61006260e-02 3.39790421e-04 9.99870319e-01 -3.29948492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56439141799999 meters 0.018818445275874722 Centerline is valid? [True, True] Translation: X:151.15, Y:-3.65, Z:-3.30 [[ 9.98745170e-01 4.74729885e-02 1.59499246e-02 1.51150198e+02] [-4.74635357e-02 9.98872499e-01 -9.70892457e-04 -3.65352442e+00] [-1.59780323e-02 2.12634335e-04 9.99872320e-01 -3.30099795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624391418 meters 0.015576294110984828 Centerline is valid? [True, True] Translation: X:151.21, Y:-3.65, Z:-3.30 [[ 9.98398241e-01 5.41677922e-02 1.63340896e-02 1.51210098e+02] [-5.41587622e-02 9.98531841e-01 -9.94996298e-04 -3.64904872e+00] [-1.63640053e-02 1.08768478e-04 9.99866095e-01 -3.30189294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684391418 meters 0.01635594221062323 Centerline is valid? [True, True] Translation: X:151.27, Y:-3.65, Z:-3.30 [[ 9.98337224e-01 5.55573385e-02 1.53678050e-02 1.51270724e+02] [-5.55494983e-02 9.98455495e-01 -9.36895621e-04 -3.65069210e+00] [-1.53961207e-02 8.16639181e-05 9.99881469e-01 -3.30434396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744391418 meters 0.01538742786256242 Centerline is valid? [True, True] Translation: X:151.33, Y:-3.66, Z:-3.31 [[ 9.98437274e-01 5.39543244e-02 1.45581613e-02 1.51330614e+02] [-5.39471135e-02 9.98543399e-01 -8.87852120e-04 -3.65597589e+00] [-1.45848593e-02 1.01093873e-04 9.99893630e-01 -3.30614119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804391418 meters 0.01804687082927896 Centerline is valid? [True, True] Translation: X:151.39, Y:-3.67, Z:-3.31 [[ 9.98896245e-01 4.46585352e-02 1.45570552e-02 1.51390642e+02] [-4.46503518e-02 9.99002282e-01 -8.86850416e-04 -3.66839527e+00] [-1.45821368e-02 2.35893915e-04 9.99893647e-01 -3.30637289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864391418 meters 0.021786533541106202 Centerline is valid? [True, True] Translation: X:151.45, Y:-3.68, Z:-3.31 [[ 9.99229038e-01 3.66047301e-02 1.41923767e-02 1.51451561e+02] [-3.65961441e-02 9.99329763e-01 -8.64294930e-04 -3.68004953e+00] [-1.42145017e-02 3.44242330e-04 9.99898910e-01 -3.30733853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924391418 meters 0.027861283706017464 Centerline is valid? [True, True] Translation: X:151.51, Y:-3.70, Z:-3.31 [[ 9.99537288e-01 2.61338452e-02 1.55638112e-02 1.51511680e+02] [-2.61222351e-02 9.99658306e-01 -9.48827287e-04 -3.69543671e+00] [-1.55832896e-02 5.41826718e-04 9.99878426e-01 -3.30734647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984391418 meters 0.030162529606391677 Centerline is valid? [True, True] Translation: X:151.57, Y:-3.70, Z:-3.31 [[ 9.99659881e-01 2.07742487e-02 1.57655785e-02 1.51572619e+02] [-2.07616725e-02 9.99783991e-01 -9.60966402e-04 -3.70298200e+00] [-1.57821363e-02 6.33319782e-04 9.99875254e-01 -3.30812585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04439141799998 meters 0.03140623666909961 Centerline is valid? [True, True] Translation: X:151.63, Y:-3.71, Z:-3.31 [[ 9.99656918e-01 2.13040026e-02 1.52376727e-02 1.51634037e+02] [-2.12923349e-02 9.99772862e-01 -9.27557231e-04 -3.70802628e+00] [-1.52539723e-02 6.02793373e-04 9.99883470e-01 -3.31046476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10439141799998 meters 0.027809509420719428 Centerline is valid? [True, True] Translation: X:151.70, Y:-3.70, Z:-3.31 [[ 9.99561047e-01 2.55078468e-02 1.50686415e-02 1.51695508e+02] [-2.54968139e-02 9.99674476e-01 -9.23864434e-04 -3.70463656e+00] [-1.50873020e-02 5.39256553e-04 9.99886035e-01 -3.31160208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16439141799998 meters 0.025843334152880735 Centerline is valid? [True, True] Translation: X:151.76, Y:-3.70, Z:-3.31 [[ 9.99423607e-01 3.04654582e-02 1.49769517e-02 1.51756034e+02] [-3.04551032e-02 9.99535713e-01 -9.19040887e-04 -3.70313093e+00] [-1.49979971e-02 4.62386549e-04 9.99887417e-01 -3.31340562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22439141799998 meters 0.0211145890031968 Centerline is valid? [True, True] Translation: X:151.82, Y:-3.70, Z:-3.31 [[ 9.99138646e-01 3.84596097e-02 1.55828235e-02 1.51817239e+02] [-3.84493656e-02 9.99260092e-01 -9.56572144e-04 -3.69614494e+00] [-1.56080830e-02 3.56598521e-04 9.99878123e-01 -3.31458873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28439141799998 meters 0.018161698074031132 Centerline is valid? [True, True] Translation: X:151.88, Y:-3.69, Z:-3.32 [[ 9.98802872e-01 4.64321858e-02 1.53907730e-02 1.51878564e+02] [-4.64231356e-02 9.98921418e-01 -9.44968917e-04 -3.69067713e+00] [-1.54180498e-02 2.29349724e-04 9.99881109e-01 -3.31706141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344391418 meters 0.01617479055634986 Centerline is valid? [True, True] Translation: X:151.94, Y:-3.69, Z:-3.32 [[ 9.98554308e-01 5.15701061e-02 1.51597370e-02 1.51939187e+02] [-5.15619033e-02 9.98669366e-01 -9.31711329e-04 -3.68683555e+00] [-1.51876134e-02 1.48699470e-04 9.99884650e-01 -3.31867086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404391418 meters 0.015073770956372547 Centerline is valid? [True, True] Translation: X:152.00, Y:-3.68, Z:-3.32 [[ 9.98239767e-01 5.73484653e-02 1.51169001e-02 1.51999718e+02] [-5.73409688e-02 9.98354221e-01 -9.29227546e-04 -3.68289545e+00] [-1.51453108e-02 6.07741937e-05 9.99885301e-01 -3.32073496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464391418 meters 0.014795055214472993 Centerline is valid? [True, True] Translation: X:152.06, Y:-3.68, Z:-3.32 [[ 9.98066744e-01 6.00579815e-02 1.59941587e-02 1.52059381e+02] [-6.00499412e-02 9.98194890e-01 -9.82912677e-04 -3.68362728e+00] [-1.60243192e-02 2.05641675e-05 9.99871602e-01 -3.32116248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524391418 meters 0.014847466540467626 Centerline is valid? [True, True] Translation: X:152.12, Y:-3.69, Z:-3.32 [[ 9.98004652e-01 6.09679323e-02 1.64202572e-02 1.52117724e+02] [-6.09595914e-02 9.98139725e-01 -1.00846817e-03 -3.68644473e+00] [-1.64511952e-02 5.48375531e-06 9.99864670e-01 -3.32222965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584391418 meters 0.014921900202418879 Centerline is valid? [True, True] Translation: X:152.18, Y:-3.69, Z:-3.32 [[ 9.97978414e-01 6.10898898e-02 1.75245874e-02 1.52176214e+02] [-6.10804279e-02 9.98132268e-01 -1.07516036e-03 -3.69112989e+00] [-1.75575376e-02 2.57752991e-06 9.99845855e-01 -3.32249832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644391418 meters 0.01477029713047316 Centerline is valid? [True, True] Translation: X:152.24, Y:-3.70, Z:-3.32 [[ 9.97952267e-01 6.13903556e-02 1.79582118e-02 1.52235805e+02] [-6.13805001e-02 9.98113833e-01 -1.09999252e-03 -3.69677179e+00] [-1.79918685e-02 -4.54399176e-06 9.99838133e-01 -3.32338877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704391418 meters 0.014836396432724146 Centerline is valid? [True, True] Translation: X:152.29, Y:-3.70, Z:-3.33 [[ 9.97884804e-01 6.28120096e-02 1.67501803e-02 1.52294000e+02] [-6.28036450e-02 9.98025376e-01 -1.02545370e-03 -3.70225629e+00] [-1.67815158e-02 -2.86877133e-05 9.99859180e-01 -3.32617444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76439141799997 meters 0.014837665676119173 Centerline is valid? [True, True] Translation: X:152.35, Y:-3.71, Z:-3.33 [[ 9.97734640e-01 6.50313137e-02 1.72196725e-02 1.52353627e+02] [-6.50228247e-02 9.97883221e-01 -1.05299629e-03 -3.70902378e+00] [-1.72517000e-02 -6.90608695e-05 9.99851176e-01 -3.32644651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82439141799998 meters 0.015426165906937827 Centerline is valid? [True, True] Translation: X:152.41, Y:-3.71, Z:-3.33 [[ 9.97563535e-01 6.75657787e-02 1.73740703e-02 1.52411761e+02] [-6.75575328e-02 9.97714815e-01 -1.06175869e-03 -3.71273019e+00] [-1.74061059e-02 -1.14577569e-04 9.99848496e-01 -3.32749362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88439141799998 meters 0.016496335751430856 Centerline is valid? [True, True] Translation: X:152.47, Y:-3.72, Z:-3.33 [[ 9.97252789e-01 7.19210288e-02 1.77268100e-02 1.52470143e+02] [-7.19131520e-02 9.97410310e-01 -1.08221693e-03 -3.71705038e+00] [-1.77587372e-02 -1.95546929e-04 9.99842282e-01 -3.32833737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94439141799998 meters 0.018312099302116653 Centerline is valid? [True, True] Translation: X:152.53, Y:-3.72, Z:-3.33 [[ 9.96997115e-01 7.56287228e-02 1.66447813e-02 1.52528212e+02] [-7.56223181e-02 9.97136016e-01 -1.01475534e-03 -3.72439704e+00] [-1.66738556e-02 -2.47008798e-04 9.99860951e-01 -3.33167801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00439141799998 meters 0.01813255677779245 Centerline is valid? [True, True] Translation: X:152.59, Y:-3.73, Z:-3.33 [[ 9.96997255e-01 7.58471959e-02 1.56101256e-02 1.52586049e+02] [-7.58416010e-02 9.97119425e-01 -9.50942428e-04 -3.73388924e+00] [-1.56372858e-02 -2.35809926e-04 9.99877702e-01 -3.33380217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06439141799999 meters 0.01711087828642739 Centerline is valid? [True, True] Translation: X:152.64, Y:-3.75, Z:-3.34 [[ 9.97194764e-01 7.32860465e-02 1.52236041e-02 1.52644567e+02] [-7.32804481e-02 9.97310944e-01 -9.26001141e-04 -3.74904062e+00] [-1.52505299e-02 -1.92189037e-04 9.99883685e-01 -3.33525633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124391418 meters 0.01598939600082557 Centerline is valid? [True, True] Translation: X:152.70, Y:-3.77, Z:-3.34 [[ 9.97407922e-01 7.02164532e-02 1.57189669e-02 1.52702922e+02] [-7.02101222e-02 9.97531767e-01 -9.54934101e-04 -3.76612172e+00] [-1.57472209e-02 -1.51171748e-04 9.99875993e-01 -3.33531674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184391418 meters 0.01576970704841484 Centerline is valid? [True, True] Translation: X:152.76, Y:-3.78, Z:-3.34 [[ 9.97458605e-01 6.95697338e-02 1.53747914e-02 1.52762162e+02] [-6.95636099e-02 9.97577081e-01 -9.33393193e-04 -3.77813211e+00] [-1.54024754e-02 -1.38504919e-04 9.99881365e-01 -3.33638657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244391418 meters 0.01648902922210472 Centerline is valid? [True, True] Translation: X:152.82, Y:-3.79, Z:-3.34 [[ 9.97345000e-01 7.13314813e-02 1.46550330e-02 1.52820816e+02] [-7.13261186e-02 9.97452653e-01 -8.88941743e-04 -3.79003188e+00] [-1.46811110e-02 -1.58705016e-04 9.99892214e-01 -3.33873294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304391418 meters 0.016996994888223715 Centerline is valid? [True, True] Translation: X:152.88, Y:-3.80, Z:-3.34 [[ 9.97221390e-01 7.31718440e-02 1.39778462e-02 1.52879571e+02] [-7.31671475e-02 9.97319332e-01 -8.47767815e-04 -3.80288010e+00] [-1.40024090e-02 -1.77306936e-04 9.99901946e-01 -3.34012790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364391418 meters 0.016732191985211604 Centerline is valid? [True, True] Translation: X:152.94, Y:-3.82, Z:-3.34 [[ 9.97353483e-01 7.14015562e-02 1.37057733e-02 1.52938149e+02] [-7.13968842e-02 9.97447640e-01 -8.30499245e-04 -3.81519366e+00] [-1.37300902e-02 -1.50248199e-04 9.99905727e-01 -3.34086955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424391418 meters 0.014690212319266092 Centerline is valid? [True, True] Translation: X:153.00, Y:-3.84, Z:-3.34 [[ 9.97947394e-01 6.25510907e-02 1.37244488e-02 1.52997643e+02] [-6.25455797e-02 9.98041763e-01 -8.30817198e-04 -3.83951307e+00] [-1.37495416e-02 -2.92917508e-05 9.99905470e-01 -3.34041360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484391418 meters 0.01513218220639854 Centerline is valid? [True, True] Translation: X:153.06, Y:-3.86, Z:-3.34 [[ 9.98397427e-01 5.48526351e-02 1.39199970e-02 1.53058472e+02] [-5.48462392e-02 9.98494458e-01 -8.41097488e-04 -3.85829263e+00] [-1.39451763e-02 7.62900828e-05 9.99902758e-01 -3.33971615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54439141799998 meters 0.01871853885487711 Centerline is valid? [True, True] Translation: X:153.12, Y:-3.88, Z:-3.34 [[ 9.98863792e-01 4.54321917e-02 1.43889326e-02 1.53118352e+02] [-4.54243099e-02 9.98967401e-01 -8.74283208e-04 -3.88227671e+00] [-1.44137952e-02 2.19682508e-04 9.99896092e-01 -3.34075396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60439141799998 meters 0.019980604692096875 Centerline is valid? [True, True] Translation: X:153.18, Y:-3.89, Z:-3.34 [[ 9.99080445e-01 4.08405966e-02 1.30502941e-02 1.53180144e+02] [-4.08336596e-02 9.99165640e-01 -7.97688820e-04 -3.89421839e+00] [-1.30719835e-02 2.64064036e-04 9.99914523e-01 -3.34262137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66439141799998 meters 0.02634841090551473 Centerline is valid? [True, True] Translation: X:153.24, Y:-3.92, Z:-3.35 [[ 9.99333083e-01 3.47873870e-02 1.11007781e-02 1.53239029e+02] [-3.47819785e-02 9.99394693e-01 -6.79969574e-04 -3.91527422e+00] [-1.11177131e-02 2.93409066e-04 9.99938153e-01 -3.34775653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72439141799998 meters 0.02639077672412195 Centerline is valid? [True, True] Translation: X:153.30, Y:-3.92, Z:-3.35 [[ 9.99442050e-01 3.15372425e-02 1.09996047e-02 1.53300372e+02] [-3.15317638e-02 9.99502525e-01 -6.71188611e-04 -3.92251050e+00] [-1.10153001e-02 3.23977185e-04 9.99939277e-01 -3.34748524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78439141799998 meters 0.028939765517472796 Centerline is valid? [True, True] Translation: X:153.36, Y:-3.93, Z:-3.35 [[ 9.99572978e-01 2.69331994e-02 1.13342189e-02 1.53361508e+02] [-2.69270202e-02 9.99637159e-01 -6.97456930e-04 -3.93250126e+00] [-1.13488912e-02 3.91962358e-04 9.99935522e-01 -3.34829963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844391418 meters 0.032512948874716376 Centerline is valid? [True, True] Translation: X:153.42, Y:-3.94, Z:-3.35 [[ 9.99635612e-01 2.39090012e-02 1.25301091e-02 1.53422588e+02] [-2.39012313e-02 9.99714029e-01 -7.69499652e-04 -3.94159917e+00] [-1.25449238e-02 4.69734220e-04 9.99921199e-01 -3.34954560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904391418 meters 0.036988859823490476 Centerline is valid? [True, True] Translation: X:153.48, Y:-3.95, Z:-3.35 [[ 9.99746720e-01 1.76320684e-02 1.39859569e-02 1.53483097e+02] [-1.76216831e-02 9.99844352e-01 -8.65450754e-04 -3.94960791e+00] [-1.39990397e-02 6.18775451e-04 9.99901817e-01 -3.35098214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964391418 meters 0.03759730524796711 Centerline is valid? [True, True] Translation: X:153.55, Y:-3.95, Z:-3.35 [[ 9.99745794e-01 1.77422481e-02 1.39125682e-02 1.53545749e+02] [-1.77320126e-02 9.99842407e-01 -8.58725853e-04 -3.95113232e+00] [-1.39256114e-02 6.11809726e-04 9.99902847e-01 -3.35261686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024391418 meters 0.0356082357925541 Centerline is valid? [True, True] Translation: X:153.61, Y:-3.95, Z:-3.35 [[ 9.99654123e-01 2.15217446e-02 1.51145109e-02 1.53607440e+02] [-2.15099816e-02 9.99768191e-01 -9.40410716e-04 -3.94564964e+00] [-1.51312465e-02 6.14972598e-04 9.99885327e-01 -3.35235013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084391418 meters 0.032783623554918845 Centerline is valid? [True, True] Translation: X:153.67, Y:-3.94, Z:-3.35 [[ 9.99540331e-01 2.55868825e-02 1.62615264e-02 1.53669131e+02] [-2.55737916e-02 9.99672424e-01 -1.01249838e-03 -3.93994305e+00] [-1.62821062e-02 5.96164074e-04 9.99867260e-01 -3.35219123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144391418 meters 0.02963208003097136 Centerline is valid? [True, True] Translation: X:153.73, Y:-3.93, Z:-3.35 [[ 9.99339645e-01 3.19243567e-02 1.73525248e-02 1.53729919e+02] [-3.19103876e-02 9.99490149e-01 -1.08137707e-03 -3.93187170e+00] [-1.73781999e-02 5.26937184e-04 9.99848849e-01 -3.35358348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204391418 meters 0.025871515211719792 Centerline is valid? [True, True] Translation: X:153.79, Y:-3.92, Z:-3.36 [[ 9.99154523e-01 3.72975130e-02 1.72955321e-02 1.53792493e+02] [-3.72844467e-02 9.99304112e-01 -1.07742434e-03 -3.92117318e+00] [-1.73236816e-02 4.31659062e-04 9.99849841e-01 -3.35631832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26439141799997 meters 0.02364808354026261 Centerline is valid? [True, True] Translation: X:153.86, Y:-3.92, Z:-3.36 [[ 9.99019125e-01 4.09717138e-02 1.67960472e-02 1.53855394e+02] [-4.09598880e-02 9.99160242e-01 -1.04762933e-03 -3.91649035e+00] [-1.68248658e-02 3.58637520e-04 9.99858388e-01 -3.35929693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32439141799998 meters 0.018189338419132138 Centerline is valid? [True, True] Translation: X:153.92, Y:-3.90, Z:-3.36 [[ 9.98752271e-01 4.72154438e-02 1.62666505e-02 1.53917369e+02] [-4.72051502e-02 9.98884698e-01 -1.01640393e-03 -3.90414886e+00] [-1.62964983e-02 2.47266053e-04 9.99867173e-01 -3.36067913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38439141799998 meters 0.015936869352354013 Centerline is valid? [True, True] Translation: X:153.98, Y:-3.90, Z:-3.36 [[ 9.98457027e-01 5.26378096e-02 1.76868680e-02 1.53980713e+02] [-5.26264802e-02 9.98613655e-01 -1.10570153e-03 -3.89677475e+00] [-1.77205496e-02 1.73197849e-04 9.99842964e-01 -3.36064272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44439141799998 meters 0.015165275181813556 Centerline is valid? [True, True] Translation: X:154.04, Y:-3.90, Z:-3.36 [[ 9.98256476e-01 5.55772935e-02 1.98789700e-02 1.54043312e+02] [-5.55635238e-02 9.98454378e-01 -1.24476190e-03 -3.89504235e+00] [-1.99174251e-02 1.38046004e-04 9.99801619e-01 -3.36075191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50439141799998 meters 0.014874830457685008 Centerline is valid? [True, True] Translation: X:154.11, Y:-3.90, Z:-3.36 [[ 9.98150579e-01 5.72953680e-02 2.03140753e-02 1.54105666e+02] [-5.72812181e-02 9.98357265e-01 -1.27822043e-03 -3.89569434e+00] [-2.03539408e-02 1.12241479e-04 9.99792831e-01 -3.36316417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56439141799999 meters 0.015670948829704427 Centerline is valid? [True, True] Translation: X:154.17, Y:-3.90, Z:-3.37 [[ 9.98264797e-01 5.52335641e-02 2.04119771e-02 1.54167440e+02] [-5.52187123e-02 9.98473448e-01 -1.29093670e-03 -3.90067853e+00] [-2.04521202e-02 1.61573576e-04 9.99790820e-01 -3.36532296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624391418 meters 0.01645030739911253 Centerline is valid? [True, True] Translation: X:154.23, Y:-3.91, Z:-3.37 [[ 9.98343822e-01 5.29712958e-02 2.24422478e-02 1.54228942e+02] [-5.29526079e-02 9.98596008e-01 -1.42657384e-03 -3.90610335e+00] [-2.24863065e-02 2.35835628e-04 9.99747123e-01 -3.36502774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684391418 meters 0.017566144115353836 Centerline is valid? [True, True] Translation: X:154.29, Y:-3.91, Z:-3.37 [[ 9.98466062e-01 5.06900941e-02 2.22718862e-02 1.54290973e+02] [-5.06710398e-02 9.98714389e-01 -1.41940381e-03 -3.91303812e+00] [-2.23152030e-02 2.88686901e-04 9.99750943e-01 -3.36691317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744391418 meters 0.019740944575731483 Centerline is valid? [True, True] Translation: X:154.35, Y:-3.92, Z:-3.37 [[ 9.98735927e-01 4.55033314e-02 2.13540597e-02 1.54352054e+02] [-4.54845012e-02 9.98964109e-01 -1.36692572e-03 -3.92264732e+00] [-2.13941389e-02 3.93919072e-04 9.99771042e-01 -3.37029688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804391418 meters 0.021530651736594967 Centerline is valid? [True, True] Translation: X:154.41, Y:-3.93, Z:-3.37 [[ 9.98896527e-01 4.20609464e-02 2.08950776e-02 1.54414239e+02] [-4.20420447e-02 9.99114939e-01 -1.34325411e-03 -3.92992554e+00] [-2.09330828e-02 4.63300075e-04 9.99780772e-01 -3.37241763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864391418 meters 0.023636934583662256 Centerline is valid? [True, True] Translation: X:154.48, Y:-3.94, Z:-3.37 [[ 9.99016961e-01 3.87140305e-02 2.15948080e-02 1.54476248e+02] [-3.86929134e-02 9.99250175e-01 -1.39500951e-03 -3.93799182e+00] [-2.16326221e-02 5.58072122e-04 9.99765832e-01 -3.37311537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924391418 meters 0.024382065512622623 Centerline is valid? [True, True] Translation: X:154.54, Y:-3.94, Z:-3.37 [[ 9.99078450e-01 3.72802550e-02 2.12704881e-02 1.54538380e+02] [-3.72593104e-02 9.99304678e-01 -1.38027684e-03 -3.94281141e+00] [-2.13071553e-02 5.86481125e-04 9.99772805e-01 -3.37432507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984391418 meters 0.026563599842844485 Centerline is valid? [True, True] Translation: X:154.60, Y:-3.95, Z:-3.38 [[ 9.99120758e-01 3.58412407e-02 2.17512535e-02 1.54599279e+02] [-3.58188506e-02 9.99357293e-01 -1.41821961e-03 -3.94906929e+00] [-2.17881046e-02 6.37867755e-04 9.99762408e-01 -3.37544474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04439141799998 meters 0.023115277805610436 Centerline is valid? [True, True] Translation: X:154.66, Y:-3.95, Z:-3.38 [[ 9.98992530e-01 3.81242673e-02 2.36741438e-02 1.54662281e+02] [-3.80982198e-02 9.99272796e-01 -1.55047613e-03 -3.94645773e+00] [-2.37160387e-02 6.46971334e-04 9.99718526e-01 -3.37540343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10439141799998 meters 0.020270726872980323 Centerline is valid? [True, True] Translation: X:154.72, Y:-3.94, Z:-3.38 [[ 9.98707203e-01 4.53656891e-02 2.29320109e-02 1.54722749e+02] [-4.53430703e-02 9.98970339e-01 -1.50562014e-03 -3.94271507e+00] [-2.29767022e-02 4.63865898e-04 9.99735893e-01 -3.37711117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16439141799998 meters 0.018767054648416392 Centerline is valid? [True, True] Translation: X:154.78, Y:-3.94, Z:-3.38 [[ 9.98487008e-01 5.09226693e-02 2.07503512e-02 1.54784087e+02] [-5.09053019e-02 9.98702552e-01 -1.36466126e-03 -3.94195752e+00] [-2.07929209e-02 3.06293643e-04 9.99783757e-01 -3.38118046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22439141799998 meters 0.016528440208667585 Centerline is valid? [True, True] Translation: X:154.85, Y:-3.94, Z:-3.39 [[ 9.98244958e-01 5.61874396e-02 1.87076562e-02 1.54846928e+02] [-5.61741616e-02 9.98420221e-01 -1.23491216e-03 -3.93890591e+00] [-1.87474888e-02 1.81857929e-04 9.99824234e-01 -3.38542033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28439141799998 meters 0.015545531443415448 Centerline is valid? [True, True] Translation: X:154.91, Y:-3.94, Z:-3.39 [[ 9.98173448e-01 5.76037589e-02 1.82092190e-02 1.54910343e+02] [-5.75913307e-02 9.98339513e-01 -1.20661156e-03 -3.93947790e+00] [-1.82484882e-02 1.55714463e-04 9.99833470e-01 -3.38601036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344391418 meters 0.01575138409214214 Centerline is valid? [True, True] Translation: X:154.97, Y:-3.94, Z:-3.39 [[ 9.98162581e-01 5.75129095e-02 1.90716152e-02 1.54971852e+02] [-5.74991232e-02 9.98344748e-01 -1.27088908e-03 -3.94274532e+00] [-1.91131394e-02 1.71952771e-04 9.99817312e-01 -3.38606496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404391418 meters 0.017458910274818672 Centerline is valid? [True, True] Translation: X:155.03, Y:-3.95, Z:-3.39 [[ 9.98371025e-01 5.37297499e-02 1.91939985e-02 1.55032771e+02] [-5.37149645e-02 9.98555482e-01 -1.28540635e-03 -3.95088317e+00] [-1.92353370e-02 2.52307503e-04 9.99814952e-01 -3.38721458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464391418 meters 0.021414570407910137 Centerline is valid? [True, True] Translation: X:155.09, Y:-3.96, Z:-3.39 [[ 9.98721064e-01 4.66573070e-02 1.94764730e-02 1.55093820e+02] [-4.66406269e-02 9.98910875e-01 -1.31003557e-03 -3.96192371e+00] [-1.95163834e-02 3.99965209e-04 9.99809457e-01 -3.38734500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524391418 meters 0.02186812273665712 Centerline is valid? [True, True] Translation: X:155.16, Y:-3.97, Z:-3.39 [[ 9.98799707e-01 4.45378648e-02 2.03843878e-02 1.55155867e+02] [-4.45190942e-02 9.99007589e-01 -1.37392484e-03 -3.96668446e+00] [-2.04253497e-02 4.64781245e-04 9.99791273e-01 -3.38763697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584391418 meters 0.025069694155070984 Centerline is valid? [True, True] Translation: X:155.22, Y:-3.98, Z:-3.39 [[ 9.99005970e-01 3.86408993e-02 2.22250586e-02 1.55216274e+02] [-3.86169682e-02 9.99252953e-01 -1.50509753e-03 -3.97525917e+00] [-2.22666137e-02 6.45337036e-04 9.99751860e-01 -3.38625363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644391418 meters 0.026259050773624656 Centerline is valid? [True, True] Translation: X:155.28, Y:-3.98, Z:-3.39 [[ 9.99071688e-01 3.62995267e-02 2.31971432e-02 1.55278091e+02] [-3.62728058e-02 9.99340689e-01 -1.57177374e-03 -3.98016732e+00] [-2.32389037e-02 7.28889171e-04 9.99729674e-01 -3.38627642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704391418 meters 0.0274734668832941 Centerline is valid? [True, True] Translation: X:155.34, Y:-3.99, Z:-3.39 [[ 9.99123723e-01 3.51372323e-02 2.27411933e-02 1.55340186e+02] [-3.51110992e-02 9.99382217e-01 -1.54754476e-03 -3.98508254e+00] [-2.27815206e-02 7.47720392e-04 9.99740188e-01 -3.38838491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76439141799997 meters 0.026614372914070976 Centerline is valid? [True, True] Translation: X:155.40, Y:-3.99, Z:-3.39 [[ 9.99093646e-01 3.65894905e-02 2.17507600e-02 1.55402052e+02] [-3.65657945e-02 9.99330142e-01 -1.48628518e-03 -3.98721816e+00] [-2.17905725e-02 6.89604263e-04 9.99762319e-01 -3.39090119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82439141799998 meters 0.0223352520702276 Centerline is valid? [True, True] Translation: X:155.46, Y:-3.98, Z:-3.39 [[ 9.98895437e-01 4.29464653e-02 1.90658631e-02 1.55464515e+02] [-4.29293102e-02 9.99077256e-01 -1.30834039e-03 -3.98103938e+00] [-1.91044588e-02 4.88410893e-04 9.99817374e-01 -3.39451339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88439141799998 meters 0.017346768317692912 Centerline is valid? [True, True] Translation: X:155.53, Y:-3.97, Z:-3.40 [[ 9.98354557e-01 5.49400404e-02 1.64247184e-02 1.55525120e+02] [-5.49289104e-02 9.98489630e-01 -1.12833732e-03 -3.96994703e+00] [-1.64619019e-02 2.24288819e-04 9.99864469e-01 -3.39822546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94439141799998 meters 0.014233786005067492 Centerline is valid? [True, True] Translation: X:155.59, Y:-3.96, Z:-3.40 [[ 9.97538410e-01 6.81406968e-02 1.65518962e-02 1.55586605e+02] [-6.81312092e-02 9.97675722e-01 -1.13707412e-03 -3.95863509e+00] [-1.65909060e-02 6.57440568e-06 9.99862361e-01 -3.39881786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00439141799998 meters 0.014741814572232833 Centerline is valid? [True, True] Translation: X:155.65, Y:-3.96, Z:-3.40 [[ 9.97119044e-01 7.40164641e-02 1.65884052e-02 1.55646737e+02] [-7.40077434e-02 9.97257015e-01 -1.13981532e-03 -3.95536367e+00] [-1.66272686e-02 -9.11388780e-05 9.99861753e-01 -3.39999083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06439141799999 meters 0.014709318359772211 Centerline is valid? [True, True] Translation: X:155.71, Y:-3.96, Z:-3.40 [[ 9.97110692e-01 7.40075872e-02 1.71214884e-02 1.55705080e+02] [-7.39983053e-02 9.97257674e-01 -1.17588208e-03 -3.95780700e+00] [-1.71615599e-02 -9.44765393e-05 9.99852725e-01 -3.40089214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124391418 meters 0.014206245185095008 Centerline is valid? [True, True] Translation: X:155.76, Y:-3.97, Z:-3.40 [[ 9.97578770e-01 6.75599229e-02 1.65001081e-02 1.55764591e+02] [-6.75504502e-02 9.97715218e-01 -1.13139699e-03 -3.96897396e+00] [-1.65388461e-02 1.40678838e-05 9.99863224e-01 -3.40190013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184391418 meters 0.01753579411910681 Centerline is valid? [True, True] Translation: X:155.82, Y:-3.99, Z:-3.40 [[ 9.98413716e-01 5.35234380e-02 1.74726251e-02 1.55824449e+02] [-5.35106683e-02 9.98566559e-01 -1.19788534e-03 -3.98915558e+00] [-1.75116940e-02 2.61013308e-04 9.99846624e-01 -3.40123994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244391418 meters 0.02338465542664204 Centerline is valid? [True, True] Translation: X:155.88, Y:-4.01, Z:-3.40 [[ 9.98960887e-01 4.09906270e-02 1.99227291e-02 1.55884478e+02] [-4.09715111e-02 9.99159380e-01 -1.36690154e-03 -4.00730789e+00] [-1.99620119e-02 5.49216859e-04 9.99800588e-01 -3.39935061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304391418 meters 0.027271719129455627 Centerline is valid? [True, True] Translation: X:155.95, Y:-4.02, Z:-3.40 [[ 9.99189484e-01 3.49534860e-02 1.99657174e-02 1.55945171e+02] [-3.49330754e-02 9.99388715e-01 -1.37024483e-03 -4.01934692e+00] [-2.00014075e-02 6.71670313e-04 9.99799726e-01 -3.40047708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364391418 meters 0.025901429390095324 Centerline is valid? [True, True] Translation: X:156.01, Y:-4.02, Z:-3.40 [[ 9.99194202e-01 3.58128113e-02 1.81214972e-02 1.56007694e+02] [-3.57961449e-02 9.99358339e-01 -1.24333972e-03 -4.02254485e+00] [-1.81543968e-02 5.93658096e-04 9.99835019e-01 -3.40399230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424391418 meters 0.023653780454730336 Centerline is valid? [True, True] Translation: X:156.07, Y:-4.02, Z:-3.41 [[ 9.99024326e-01 4.13404220e-02 1.55359219e-02 1.56068013e+02] [-4.13287635e-02 9.99145028e-01 -1.07087163e-03 -4.02201582e+00] [-1.55669094e-02 4.27746364e-04 9.99878737e-01 -3.40796872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484391418 meters 0.020870296407260097 Centerline is valid? [True, True] Translation: X:156.13, Y:-4.02, Z:-3.41 [[ 9.98800682e-01 4.67127204e-02 1.46669730e-02 1.56129875e+02] [-4.67028736e-02 9.98908311e-01 -1.01333796e-03 -4.01959390e+00] [-1.46982970e-02 3.27132858e-04 9.99891921e-01 -3.40954231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54439141799998 meters 0.016353726995985262 Centerline is valid? [True, True] Translation: X:156.19, Y:-4.01, Z:-3.41 [[ 9.98255879e-01 5.72032717e-02 1.45940049e-02 1.56191391e+02] [-5.71946318e-02 9.98362537e-01 -1.00904038e-03 -4.01194718e+00] [-1.46278282e-02 1.72581757e-04 9.99892993e-01 -3.41002589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60439141799998 meters 0.014129174472450098 Centerline is valid? [True, True] Translation: X:156.25, Y:-4.00, Z:-3.41 [[ 9.97556682e-01 6.83806547e-02 1.43091741e-02 1.56252065e+02] [-6.83734845e-02 9.97659304e-01 -9.90276072e-04 -4.00445011e+00] [-1.43433964e-02 9.48842027e-06 9.99897128e-01 -3.41146028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66439141799998 meters 0.016294550724597477 Centerline is valid? [True, True] Translation: X:156.31, Y:-4.00, Z:-3.41 [[ 9.96728919e-01 7.98314286e-02 1.25859080e-02 1.56312583e+02] [-7.98267990e-02 9.96808369e-01 -8.70576286e-04 -3.99709549e+00] [-1.26152377e-02 -1.36964184e-04 9.99920415e-01 -3.41386587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72439141799998 meters 0.019563322334772662 Centerline is valid? [True, True] Translation: X:156.37, Y:-3.99, Z:-3.42 [[ 9.96171005e-01 8.67063049e-02 1.11958164e-02 1.56372046e+02] [-8.67030772e-02 9.96233897e-01 -7.74262832e-04 -3.99483143e+00] [-1.12207852e-02 -1.99413548e-04 9.99937025e-01 -3.41619825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78439141799998 meters 0.023956614868637805 Centerline is valid? [True, True] Translation: X:156.43, Y:-3.99, Z:-3.42 [[ 9.95533931e-01 9.38521674e-02 1.01961727e-02 1.56431565e+02] [-9.38498702e-02 9.95586112e-01 -7.04590142e-04 -3.99365699e+00] [-1.02172953e-02 -2.55466093e-04 9.99947769e-01 -3.41741181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844391418 meters 0.02632696671267399 Centerline is valid? [True, True] Translation: X:156.49, Y:-4.00, Z:-3.42 [[ 9.95255650e-01 9.66426629e-02 1.12422077e-02 1.56489452e+02] [-9.66400528e-02 9.95319093e-01 -7.76449069e-04 -3.99808274e+00] [-1.12646221e-02 -3.13682221e-04 9.99936503e-01 -3.41754283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904391418 meters 0.025609724245798347 Centerline is valid? [True, True] Translation: X:156.55, Y:-4.01, Z:-3.41 [[ 9.94956344e-01 9.93296449e-02 1.39819601e-02 1.56547124e+02] [-9.93259005e-02 9.95054489e-01 -9.63693443e-04 -4.01089493e+00] [-1.40085355e-02 -4.29937869e-04 9.99901783e-01 -3.41449103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964391418 meters 0.027531105113833068 Centerline is valid? [True, True] Translation: X:156.61, Y:-4.02, Z:-3.42 [[ 9.94668754e-01 1.02078858e-01 1.46279530e-02 1.56605567e+02] [-1.02075085e-01 9.94776188e-01 -1.00627681e-03 -4.02207899e+00] [-1.46542589e-02 -4.92237445e-04 9.99892499e-01 -3.41536930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024391418 meters 0.03200358180369009 Centerline is valid? [True, True] Translation: X:156.66, Y:-4.03, Z:-3.42 [[ 9.94579215e-01 1.03042576e-01 1.39431893e-02 1.56662658e+02] [-1.03039257e-01 9.94676829e-01 -9.58088193e-04 -4.02729938e+00] [-1.39676912e-02 -4.83801272e-04 9.99902330e-01 -3.41906505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084391418 meters 0.029419749900817988 Centerline is valid? [True, True] Translation: X:156.72, Y:-4.05, Z:-3.42 [[ 9.94560589e-01 1.03301614e-01 1.33421204e-02 1.56719789e+02] [-1.03298617e-01 9.94649967e-01 -9.15426212e-04 -4.04791519e+00] [-1.33653046e-02 -4.67775747e-04 9.99910571e-01 -3.41992222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144391418 meters 0.029059239108877068 Centerline is valid? [True, True] Translation: X:156.78, Y:-4.07, Z:-3.42 [[ 9.94618917e-01 1.02612636e-01 1.42778439e-02 1.56777824e+02] [-1.02609153e-01 9.94721270e-01 -9.78224339e-04 -4.06517794e+00] [-1.43028532e-02 -4.92077046e-04 9.99897588e-01 -3.42007986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204391418 meters 0.02935394996668135 Centerline is valid? [True, True] Translation: X:156.84, Y:-4.08, Z:-3.42 [[ 9.94654665e-01 1.02114899e-01 1.53180959e-02 1.56835958e+02] [-1.02110855e-01 9.94772474e-01 -1.04798034e-03 -4.07684204e+00] [-1.53450346e-02 -5.21765333e-04 9.99882122e-01 -3.42055744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26439141799997 meters 0.029506636728410505 Centerline is valid? [True, True] Translation: X:156.89, Y:-4.09, Z:-3.42 [[ 9.94788950e-01 1.01041035e-01 1.36255281e-02 1.56893923e+02] [-1.01037750e-01 9.94882157e-01 -9.31010128e-04 -4.09394184e+00] [-1.36498650e-02 -4.50534120e-04 9.99906735e-01 -3.42461264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32439141799998 meters 0.028950510687713368 Centerline is valid? [True, True] Translation: X:156.95, Y:-4.11, Z:-3.43 [[ 9.94960867e-01 9.95843399e-02 1.16547474e-02 1.56952898e+02] [-9.95818458e-02 9.95029056e-01 -7.95574828e-04 -4.10749183e+00] [-1.16760391e-02 -3.69035441e-04 9.99931765e-01 -3.42822287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38439141799998 meters 0.02834294924182991 Centerline is valid? [True, True] Translation: X:157.01, Y:-4.12, Z:-3.43 [[ 9.95182992e-01 9.72653404e-02 1.22582767e-02 1.57010684e+02] [-9.72624101e-02 9.95258421e-01 -8.36399056e-04 -4.12454017e+00] [-1.22815058e-02 -3.59899423e-04 9.99924515e-01 -3.42883428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44439141799998 meters 0.027286964308790268 Centerline is valid? [True, True] Translation: X:157.07, Y:-4.13, Z:-3.43 [[ 9.95306174e-01 9.59584688e-02 1.25535440e-02 1.57070302e+02] [-9.59553021e-02 9.95385276e-01 -8.55715252e-04 -4.13390078e+00] [-1.25777260e-02 -3.52880435e-04 9.99920835e-01 -3.42914144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50439141799998 meters 0.021275920507126712 Centerline is valid? [True, True] Translation: X:157.13, Y:-4.16, Z:-3.43 [[ 9.95946095e-01 8.89831199e-02 1.31673631e-02 1.57130663e+02] [-8.89790527e-02 9.96033095e-01 -8.95561566e-04 -4.16044797e+00] [-1.31948193e-02 -2.79688449e-04 9.99912905e-01 -3.42749434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56439141799999 meters 0.017174120099081282 Centerline is valid? [True, True] Translation: X:157.19, Y:-4.19, Z:-3.43 [[ 9.96568781e-01 8.14693930e-02 1.46083015e-02 1.57191026e+02] [-8.14635631e-02 9.96675824e-01 -9.94682245e-04 -4.18520749e+00] [-1.46407771e-02 -1.98775019e-04 9.99892798e-01 -3.42659709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624391418 meters 0.014654879397980094 Centerline is valid? [True, True] Translation: X:157.25, Y:-4.21, Z:-3.43 [[ 9.97048653e-01 7.53646598e-02 1.46338969e-02 1.57250918e+02] [-7.53581603e-02 9.97156034e-01 -9.95834470e-04 -4.20729737e+00] [-1.46673293e-02 -1.09888128e-04 9.99892423e-01 -3.42829228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684391418 meters 0.013723388630103944 Centerline is valid? [True, True] Translation: X:157.31, Y:-4.22, Z:-3.43 [[ 9.97346298e-01 7.16442497e-02 1.29407427e-02 1.57313072e+02] [-7.16388242e-02 9.97430248e-01 -8.82919412e-04 -4.22319187e+00] [-1.29707443e-02 -4.64831857e-05 9.99915875e-01 -3.43104841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744391418 meters 0.013560733528756867 Centerline is valid? [True, True] Translation: X:157.37, Y:-4.24, Z:-3.43 [[ 9.97491050e-01 6.97107937e-02 1.23292833e-02 1.57374059e+02] [-6.97056722e-02 9.97567243e-01 -8.45163854e-04 -4.23911477e+00] [-1.23582062e-02 -1.63775988e-05 9.99923634e-01 -3.43205257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804391418 meters 0.013611719960510922 Centerline is valid? [True, True] Translation: X:157.44, Y:-4.25, Z:-3.43 [[ 9.97366020e-01 7.12797757e-02 1.34244486e-02 1.57437092e+02] [-7.12737858e-02 9.97456361e-01 -9.24707571e-04 -4.24690497e+00] [-1.34562146e-02 -3.45393625e-05 9.99909460e-01 -3.43179973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864391418 meters 0.014372415377827685 Centerline is valid? [True, True] Translation: X:157.50, Y:-4.25, Z:-3.43 [[ 9.97059031e-01 7.52885461e-02 1.43151527e-02 1.57498813e+02] [-7.52820736e-02 9.97161786e-01 -9.91236729e-04 -4.25252204e+00] [-1.43491520e-02 -8.93528454e-05 9.99897042e-01 -3.43202963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924391418 meters 0.013872809408520804 Centerline is valid? [True, True] Translation: X:157.56, Y:-4.26, Z:-3.43 [[ 9.97066591e-01 7.53826853e-02 1.32537922e-02 1.57561408e+02] [-7.53771061e-02 9.97154674e-01 -9.20698069e-04 -4.26358569e+00] [-1.32854856e-02 -8.10352184e-05 9.99911741e-01 -3.43444207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984391418 meters 0.012993342945986936 Centerline is valid? [True, True] Translation: X:157.62, Y:-4.28, Z:-3.44 [[ 9.97314108e-01 7.21183520e-02 1.27872230e-02 1.57623986e+02] [-7.21128412e-02 9.97396081e-01 -8.92122106e-04 -4.27578317e+00] [-1.28182645e-02 -3.23970184e-05 9.99917842e-01 -3.43541371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04439141799998 meters 0.013641889718447169 Centerline is valid? [True, True] Translation: X:157.69, Y:-4.29, Z:-3.44 [[ 9.97885648e-01 6.36934232e-02 1.29376118e-02 1.57685026e+02] [-6.36870066e-02 9.97969509e-01 -9.07772138e-04 -4.29364772e+00] [-1.29691612e-02 8.18950216e-05 9.99915894e-01 -3.43594072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10439141799998 meters 0.017455634751421617 Centerline is valid? [True, True] Translation: X:157.74, Y:-4.31, Z:-3.44 [[ 9.98284363e-01 5.67879084e-02 1.42641063e-02 1.57744924e+02] [-5.67793245e-02 9.98386246e-01 -1.00636855e-03 -4.31085284e+00] [-1.42982371e-02 1.94735660e-04 9.99897756e-01 -3.43631867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16439141799998 meters 0.0189918520416627 Centerline is valid? [True, True] Translation: X:157.81, Y:-4.32, Z:-3.44 [[ 9.98380877e-01 5.48435455e-02 1.50933909e-02 1.57805233e+02] [-5.48336364e-02 9.98494931e-01 -1.06988574e-03 -4.32064704e+00] [-1.51293506e-02 2.40527951e-04 9.99885516e-01 -3.43695777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22439141799998 meters 0.017400593108621083 Centerline is valid? [True, True] Translation: X:157.87, Y:-4.32, Z:-3.44 [[ 9.98414892e-01 5.45623604e-02 1.38076617e-02 1.57867089e+02] [-5.45540040e-02 9.98510339e-01 -9.81406579e-04 -4.32303630e+00] [-1.38406408e-02 2.26587711e-04 9.99904188e-01 -3.43887165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28439141799998 meters 0.021044418732814776 Centerline is valid? [True, True] Translation: X:157.93, Y:-4.33, Z:-3.45 [[ 9.98477063e-01 5.41772442e-02 1.04106226e-02 1.57927828e+02] [-5.41724383e-02 9.98531319e-01 -7.43280079e-04 -4.33142974e+00] [-1.04356015e-02 1.78179302e-04 9.99945532e-01 -3.44709805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344391418 meters 0.022331877326594796 Centerline is valid? [True, True] Translation: X:157.99, Y:-4.34, Z:-3.45 [[ 9.98536636e-01 5.33456832e-02 8.87836051e-03 1.57989168e+02] [-5.33421561e-02 9.98576093e-01 -6.33768621e-04 -4.33709011e+00] [-8.89952737e-03 1.59250295e-04 9.99960386e-01 -3.44959132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404391418 meters 0.020648862138806765 Centerline is valid? [True, True] Translation: X:158.05, Y:-4.34, Z:-3.44 [[ 9.98627082e-01 5.13305378e-02 1.04464218e-02 1.58051941e+02] [-5.13255139e-02 9.98681697e-01 -7.48622699e-04 -4.33861793e+00] [-1.04710774e-02 2.11426935e-04 9.99945154e-01 -3.44429137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464391418 meters 0.02294051922122351 Centerline is valid? [True, True] Translation: X:158.11, Y:-4.34, Z:-3.44 [[ 9.98734730e-01 4.87896732e-02 1.21863605e-02 1.58112472e+02] [-4.87825805e-02 9.98809035e-01 -8.78778070e-04 -4.34391278e+00] [-1.22147223e-02 2.83184065e-04 9.99925357e-01 -3.44324209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524391418 meters 0.024136216582044966 Centerline is valid? [True, True] Translation: X:158.17, Y:-4.35, Z:-3.44 [[ 9.98810863e-01 4.72422629e-02 1.20427586e-02 1.58174188e+02] [-4.72351974e-02 9.98883416e-01 -8.70624209e-04 -4.34819270e+00] [-1.20704421e-02 3.00746836e-04 9.99927104e-01 -3.44462708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584391418 meters 0.025585329364731922 Centerline is valid? [True, True] Translation: X:158.24, Y:-4.35, Z:-3.45 [[ 9.98851222e-01 4.65644860e-02 1.13130684e-02 1.58235194e+02] [-4.65581709e-02 9.98915243e-01 -8.21082427e-04 -4.35072034e+00] [-1.13390297e-02 2.93423416e-04 9.99935668e-01 -3.44635532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644391418 meters 0.021245829644147396 Centerline is valid? [True, True] Translation: X:158.30, Y:-4.34, Z:-3.44 [[ 9.98672553e-01 5.02932036e-02 1.11231694e-02 1.58298474e+02] [-5.02873030e-02 9.98734465e-01 -8.09709639e-04 -4.34318626e+00] [-1.11498156e-02 2.49280601e-04 9.99937808e-01 -3.44478379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704391418 meters 0.020050988464873864 Centerline is valid? [True, True] Translation: X:158.36, Y:-4.34, Z:-3.44 [[ 9.98535242e-01 5.27400138e-02 1.20773211e-02 1.58361407e+02] [-5.27331606e-02 9.98608246e-01 -8.85414044e-04 -4.34216090e+00] [-1.21072092e-02 2.47241811e-04 9.99926674e-01 -3.44481141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76439141799997 meters 0.02289253936013162 Centerline is valid? [True, True] Translation: X:158.42, Y:-4.34, Z:-3.45 [[ 9.98592349e-01 5.16897132e-02 1.18951497e-02 1.58422348e+02] [-5.16829958e-02 9.98663161e-01 -8.71626590e-04 -4.34497773e+00] [-1.19243019e-02 2.55622670e-04 9.99928870e-01 -3.44809088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82439141799998 meters 0.025814191651656555 Centerline is valid? [True, True] Translation: X:158.48, Y:-4.35, Z:-3.45 [[ 9.98881990e-01 4.60589242e-02 1.06464267e-02 1.58483444e+02] [-4.60531707e-02 9.98938681e-01 -7.85066636e-04 -4.34862201e+00] [-1.06712868e-02 2.93887216e-04 9.99943017e-01 -3.45156179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88439141799998 meters 0.026672258461602864 Centerline is valid? [True, True] Translation: X:158.54, Y:-4.35, Z:-3.45 [[ 9.99087055e-01 4.16454717e-02 9.52419180e-03 1.58544738e+02] [-4.16406644e-02 9.99132404e-01 -7.02581824e-04 -4.35101904e+00] [-9.54518801e-03 3.05346731e-04 9.99954397e-01 -3.45357922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94439141799998 meters 0.03055737196561246 Centerline is valid? [True, True] Translation: X:158.61, Y:-4.35, Z:-3.46 [[ 9.99259035e-01 3.76067313e-02 8.19235086e-03 1.58605092e+02] [-3.76030346e-02 9.99292573e-01 -6.04868673e-04 -4.35403700e+00] [-8.20930250e-03 2.96363234e-04 9.99966259e-01 -3.45676776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00439141799998 meters 0.03125332860459551 Centerline is valid? [True, True] Translation: X:158.67, Y:-4.36, Z:-3.46 [[ 9.99269657e-01 3.72591042e-02 8.48003918e-03 1.58667290e+02] [-3.72551606e-02 9.99305592e-01 -6.22593158e-04 -4.35530885e+00] [-8.49734783e-03 3.06213231e-04 9.99963850e-01 -3.45784064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06439141799999 meters 0.030102191933451303 Centerline is valid? [True, True] Translation: X:158.73, Y:-4.35, Z:-3.46 [[ 9.99144545e-01 3.98823657e-02 1.09350550e-02 1.58728728e+02] [-3.98758779e-02 9.99204312e-01 -8.10776529e-04 -4.35019321e+00] [-1.09586898e-02 3.74038028e-04 9.99939882e-01 -3.45688301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124391418 meters 0.024221582037155673 Centerline is valid? [True, True] Translation: X:158.79, Y:-4.34, Z:-3.45 [[ 9.98855317e-01 4.57645654e-02 1.39161551e-02 1.58790841e+02] [-4.57546140e-02 9.98952175e-01 -1.03280425e-03 -4.33727224e+00] [-1.39488392e-02 3.94893716e-04 9.99902632e-01 -3.45435692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184391418 meters 0.021105294617501918 Centerline is valid? [True, True] Translation: X:158.85, Y:-4.33, Z:-3.46 [[ 9.98575251e-01 5.12368207e-02 1.49082294e-02 1.58852945e+02] [-5.12260060e-02 9.98686473e-01 -1.10663393e-03 -4.33152677e+00] [-1.49453474e-02 3.41368210e-04 9.99888254e-01 -3.45517549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244391418 meters 0.016490517217575655 Centerline is valid? [True, True] Translation: X:158.92, Y:-4.32, Z:-3.46 [[ 9.98052416e-01 6.06861517e-02 1.44418072e-02 1.58915682e+02] [-6.06769850e-02 9.98156878e-01 -1.07246013e-03 -4.32013741e+00] [-1.44802726e-02 1.94086105e-04 9.99895137e-01 -3.45787191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304391418 meters 0.015105732260675802 Centerline is valid? [True, True] Translation: X:158.98, Y:-4.32, Z:-3.46 [[ 9.97831287e-01 6.41322198e-02 1.48250066e-02 1.58978605e+02] [-6.41229299e-02 9.97941399e-01 -1.10161818e-03 -4.31937092e+00] [-1.48651371e-02 1.48606229e-04 9.99889497e-01 -3.46001275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364391418 meters 0.012819358330934075 Centerline is valid? [True, True] Translation: X:159.04, Y:-4.31, Z:-3.46 [[ 9.97041298e-01 7.52788632e-02 1.55480841e-02 1.59042157e+02] [-7.52699918e-02 9.97162521e-01 -1.15580912e-03 -4.30772604e+00] [-1.55909747e-02 -1.79147369e-05 9.99878453e-01 -3.46130237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424391418 meters 0.013981684385738205 Centerline is valid? [True, True] Translation: X:159.10, Y:-4.30, Z:-3.46 [[ 9.96458398e-01 8.25638071e-02 1.59335490e-02 1.59104406e+02] [-8.25553375e-02 9.96585772e-01 -1.18969820e-03 -4.30257888e+00] [-1.59773742e-02 -1.29914750e-04 9.99872345e-01 -3.46273575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484391418 meters 0.017875632410534425 Centerline is valid? [True, True] Translation: X:159.17, Y:-4.29, Z:-3.47 [[ 9.95652543e-01 9.16035539e-02 1.68760663e-02 1.59166503e+02] [-9.15952487e-02 9.95795515e-01 -1.26604116e-03 -4.29468541e+00] [-1.69210850e-02 -2.85230391e-04 9.99856788e-01 -3.46532090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54439141799998 meters 0.021758966418497488 Centerline is valid? [True, True] Translation: X:159.23, Y:-4.29, Z:-3.47 [[ 9.95064011e-01 9.77544166e-02 1.70789000e-02 1.59227547e+02] [-9.77467564e-02 9.95210491e-01 -1.28471463e-03 -4.29338535e+00] [-1.71226869e-02 -3.91033781e-04 9.99853320e-01 -3.46829936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60439141799998 meters 0.024981785439153536 Centerline is valid? [True, True] Translation: X:159.29, Y:-4.30, Z:-3.47 [[ 9.94691803e-01 1.01414807e-01 1.74141675e-02 1.59287374e+02] [-1.01407401e-01 9.94844120e-01 -1.31003083e-03 -4.29576919e+00] [-1.74572387e-02 -4.62848547e-04 9.99847504e-01 -3.47064148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66439141799998 meters 0.025557597518546398 Centerline is valid? [True, True] Translation: X:159.35, Y:-4.30, Z:-3.47 [[ 9.94549110e-01 1.02645717e-01 1.83282251e-02 1.59347133e+02] [-1.02637731e-01 9.94717848e-01 -1.37830468e-03 -4.30275848e+00] [-1.83728897e-02 -5.10375742e-04 9.99831074e-01 -3.47126513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72439141799998 meters 0.02679904898785691 Centerline is valid? [True, True] Translation: X:159.41, Y:-4.31, Z:-3.47 [[ 9.94280785e-01 1.04495295e-01 2.20557138e-02 1.59406812e+02] [-1.04484186e-01 9.94525165e-01 -1.65861634e-03 -4.31295148e+00] [-2.21082800e-02 -6.55342941e-04 9.99755367e-01 -3.46912501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78439141799998 meters 0.02816197884414695 Centerline is valid? [True, True] Translation: X:159.47, Y:-4.32, Z:-3.47 [[ 9.94068909e-01 1.06077116e-01 2.39718463e-02 1.59468922e+02] [-1.06064439e-01 9.94357623e-01 -1.80328344e-03 -4.32077380e+00] [-2.40278753e-02 -7.49972428e-04 9.99711008e-01 -3.46912162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844391418 meters 0.030525587340504423 Centerline is valid? [True, True] Translation: X:159.53, Y:-4.33, Z:-3.47 [[ 9.93774594e-01 1.08797122e-01 2.39841974e-02 1.59530823e+02] [-1.08785057e-01 9.94063645e-01 -1.81111774e-03 -4.33126350e+00] [-2.40388631e-02 -8.09279483e-04 9.99710697e-01 -3.47282126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904391418 meters 0.03170681085555887 Centerline is valid? [True, True] Translation: X:159.59, Y:-4.34, Z:-3.48 [[ 9.93666812e-01 1.10102460e-01 2.24435857e-02 1.59591823e+02] [-1.10092093e-01 9.93919936e-01 -1.70074069e-03 -4.34138452e+00] [-2.24943829e-02 -7.80891744e-04 9.99746664e-01 -3.47710490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964391418 meters 0.02552919326975164 Centerline is valid? [True, True] Translation: X:159.65, Y:-4.37, Z:-3.48 [[ 9.93899934e-01 1.08206592e-01 2.13132568e-02 1.59652259e+02] [-1.08196696e-01 9.94128186e-01 -1.62031678e-03 -4.36543993e+00] [-2.13634383e-02 -6.95591219e-04 9.99771534e-01 -3.48077504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024391418 meters 0.020187358969800454 Centerline is valid? [True, True] Translation: X:159.71, Y:-4.39, Z:-3.48 [[ 9.94766556e-01 9.95640844e-02 2.29454179e-02 1.59711371e+02] [-9.95501436e-02 9.95031004e-01 -1.75187127e-03 -4.39032092e+00] [-2.30058256e-02 -5.41516696e-04 9.99735184e-01 -3.48079608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084391418 meters 0.013787982903676128 Centerline is valid? [True, True] Translation: X:159.77, Y:-4.42, Z:-3.48 [[ 9.96092361e-01 8.48387056e-02 2.45438887e-02 1.59769394e+02] [-8.48182675e-02 9.96394675e-01 -1.87444603e-03 -4.41917980e+00] [-2.46144255e-02 -2.14648746e-04 9.99696996e-01 -3.48025776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144391418 meters 0.012399240344438378 Centerline is valid? [True, True] Translation: X:159.83, Y:-4.44, Z:-3.48 [[ 9.96925381e-01 7.43520499e-02 2.47296747e-02 1.59830276e+02] [-7.43280511e-02 9.97232055e-01 -1.88950323e-03 -4.44184028e+00] [-2.48017128e-02 4.55851982e-05 9.99692389e-01 -3.48173476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204391418 meters 0.018426531591409907 Centerline is valid? [True, True] Translation: X:159.89, Y:-4.47, Z:-3.48 [[ 9.98009489e-01 5.84999567e-02 2.35544971e-02 1.59888139e+02] [-5.84736058e-02 9.98287320e-01 -1.80651473e-03 -4.47193667e+00] [-2.36198368e-02 4.25602458e-04 9.99720922e-01 -3.48436886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26439141799997 meters 0.02478820201504376 Centerline is valid? [True, True] Translation: X:159.95, Y:-4.49, Z:-3.48 [[ 9.98482474e-01 4.91780013e-02 2.47845202e-02 1.59946996e+02] [-4.91458909e-02 9.98789797e-01 -1.90341445e-03 -4.49111147e+00] [-2.48481320e-02 6.82468644e-04 9.99691005e-01 -3.48374456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32439141799998 meters 0.03202663712037186 Centerline is valid? [True, True] Translation: X:160.01, Y:-4.51, Z:-3.48 [[ 9.98896440e-01 3.84341362e-02 2.69948096e-02 1.60006673e+02] [-3.83921208e-02 9.99260600e-01 -2.07318387e-03 -4.50843123e+00] [-2.70545307e-02 1.03450800e-03 9.99633424e-01 -3.48135378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38439141799998 meters 0.036006445955634195 Centerline is valid? [True, True] Translation: X:160.07, Y:-4.52, Z:-3.48 [[ 9.99043062e-01 3.36107533e-02 2.79871091e-02 1.60067001e+02] [-3.35636954e-02 9.99434269e-01 -2.14961921e-03 -4.51820201e+00] [-2.80435263e-02 1.20821135e-03 9.99605973e-01 -3.48136922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44439141799998 meters 0.03462564119895312 Centerline is valid? [True, True] Translation: X:160.13, Y:-4.52, Z:-3.49 [[ 9.99181922e-01 3.04573469e-02 2.66052023e-02 1.60128818e+02] [-3.04136598e-02 9.99535305e-01 -2.04525859e-03 -4.51777012e+00] [-2.66551321e-02 1.23442384e-03 9.99643927e-01 -3.48504306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50439141799998 meters 0.0351070643170754 Centerline is valid? [True, True] Translation: X:160.19, Y:-4.51, Z:-3.49 [[ 9.99242806e-01 3.13716421e-02 2.30137927e-02 1.60191664e+02] [-3.13390630e-02 9.99507235e-01 -1.77502212e-03 -4.51474859e+00] [-2.30581376e-02 1.05244738e-03 9.99733572e-01 -3.49129799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56439141799999 meters 0.034909562509250695 Centerline is valid? [True, True] Translation: X:160.25, Y:-4.51, Z:-3.49 [[ 9.99211835e-01 3.33668319e-02 2.15026452e-02 1.60254490e+02] [-3.33387177e-02 9.99442724e-01 -1.66472573e-03 -4.51271653e+00] [-2.15462089e-02 9.46543033e-04 9.99767405e-01 -3.49456382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624391418 meters 0.03217521779647288 Centerline is valid? [True, True] Translation: X:160.32, Y:-4.50, Z:-3.49 [[ 9.99143566e-01 3.56179091e-02 2.10594018e-02 1.60317500e+02] [-3.55913723e-02 9.99365091e-01 -1.63368258e-03 -4.50300342e+00] [-2.11042193e-02 8.82750427e-04 9.99776891e-01 -3.49499141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684391418 meters 0.03168039670149235 Centerline is valid? [True, True] Translation: X:160.38, Y:-4.50, Z:-3.49 [[ 9.99065770e-01 3.72004718e-02 2.19934683e-02 1.60380584e+02] [-3.71717526e-02 9.99307423e-01 -1.71332628e-03 -4.49906951e+00] [-2.20419727e-02 8.94189880e-04 9.99756646e-01 -3.49430220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744391418 meters 0.03143654835864035 Centerline is valid? [True, True] Translation: X:160.44, Y:-4.49, Z:-3.49 [[ 9.98968239e-01 3.87370576e-02 2.37044043e-02 1.60443766e+02] [-3.87039397e-02 9.99249001e-01 -1.85449320e-03 -4.49034396e+00] [-2.37584399e-02 9.35125974e-04 9.99717291e-01 -3.49373730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804391418 meters 0.028950010230284238 Centerline is valid? [True, True] Translation: X:160.51, Y:-4.48, Z:-3.49 [[ 9.98892773e-01 4.04348473e-02 2.40468678e-02 1.60507153e+02] [-4.04010765e-02 9.99181758e-01 -1.88874792e-03 -4.47936945e+00] [-2.41035628e-02 9.15137301e-04 9.99709048e-01 -3.49496881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864391418 meters 0.029110677296545293 Centerline is valid? [True, True] Translation: X:160.57, Y:-4.48, Z:-3.50 [[ 9.98846075e-01 4.22136974e-02 2.29024384e-02 1.60568900e+02] [-4.21833744e-02 9.99108254e-01 -1.80572365e-03 -4.47519660e+00] [-2.29582415e-02 8.37537852e-04 9.99736074e-01 -3.49767964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924391418 meters 0.02767189815201909 Centerline is valid? [True, True] Translation: X:160.63, Y:-4.46, Z:-3.50 [[ 9.98736732e-01 4.55109582e-02 2.13000639e-02 1.60631966e+02] [-4.54853589e-02 9.98963584e-01 -1.68502853e-03 -4.46399749e+00] [-2.13546755e-02 7.14058831e-04 9.99771708e-01 -3.50099352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98439141799997 meters 0.026561789339978804 Centerline is valid? [True, True] Translation: X:160.69, Y:-4.46, Z:-3.50 [[ 9.98601454e-01 4.83104799e-02 2.14763505e-02 1.60694418e+02] [-4.82849611e-02 9.98832145e-01 -1.70550111e-03 -4.45903926e+00] [-2.15336629e-02 6.66131136e-04 9.99767902e-01 -3.50110403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04439141799998 meters 0.02495065199921223 Centerline is valid? [True, True] Translation: X:160.76, Y:-4.45, Z:-3.50 [[ 9.98410774e-01 5.18955093e-02 2.19723116e-02 1.60757307e+02] [-5.18695172e-02 9.98652334e-01 -1.75160083e-03 -4.44993663e+00] [-2.20336005e-02 6.09123943e-04 9.99757045e-01 -3.50094193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10439141799998 meters 0.023091872707915122 Centerline is valid? [True, True] Translation: X:160.82, Y:-4.44, Z:-3.50 [[ 9.98224499e-01 5.60526894e-02 2.01480775e-02 1.60819172e+02] [-5.60316649e-02 9.98427699e-01 -1.60695841e-03 -4.44127753e+00] [-2.02064730e-02 4.75174931e-04 9.99795715e-01 -3.50486519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16439141799998 meters 0.021342613436049894 Centerline is valid? [True, True] Translation: X:160.88, Y:-4.44, Z:-3.51 [[ 9.98038556e-01 5.96056562e-02 1.91365420e-02 1.60881539e+02] [-5.95872507e-02 9.98221927e-01 -1.53106803e-03 -4.43653506e+00] [-1.91937761e-02 3.87770998e-04 9.99815707e-01 -3.50777099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22439141799998 meters 0.019086116148320082 Centerline is valid? [True, True] Translation: X:160.94, Y:-4.43, Z:-3.51 [[ 9.97757053e-01 6.41513752e-02 1.91171365e-02 1.60944670e+02] [-6.41337368e-02 9.97940132e-01 -1.53493972e-03 -4.43149535e+00] [-1.91762262e-02 3.05443528e-04 9.99816073e-01 -3.50897722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28439141799998 meters 0.017167532447162136 Centerline is valid? [True, True] Translation: X:161.01, Y:-4.43, Z:-3.51 [[ 9.97475866e-01 6.81614759e-02 1.98975084e-02 1.61007128e+02] [-6.81430495e-02 9.97674272e-01 -1.60339834e-03 -4.42750782e+00] [-1.99605222e-02 2.43474253e-04 9.99800739e-01 -3.50864501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344391418 meters 0.01528742490885483 Centerline is valid? [True, True] Translation: X:161.07, Y:-4.42, Z:-3.51 [[ 9.97289001e-01 7.06130662e-02 2.06988510e-02 1.61069898e+02] [-7.05935295e-02 9.97503760e-01 -1.67393527e-03 -4.42151698e+00] [-2.07653834e-02 2.08192287e-04 9.99784355e-01 -3.50796431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404391418 meters 0.015731411316140406 Centerline is valid? [True, True] Translation: X:161.13, Y:-4.42, Z:-3.51 [[ 9.97315020e-01 7.03162074e-02 2.04543937e-02 1.61131711e+02] [-7.02969394e-02 9.97524728e-01 -1.66038400e-03 -4.42393748e+00] [-2.05205155e-02 2.18044627e-04 9.99789408e-01 -3.50992060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464391418 meters 0.016209163687950754 Centerline is valid? [True, True] Translation: X:161.19, Y:-4.43, Z:-3.51 [[ 9.97438950e-01 6.90998835e-02 1.84593347e-02 1.61193645e+02] [-6.90838830e-02 9.97609721e-01 -1.50383429e-03 -4.42615335e+00] [-1.85191265e-02 2.24740377e-04 9.99828481e-01 -3.51447133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524391418 meters 0.018184742959018837 Centerline is valid? [True, True] Translation: X:161.26, Y:-4.43, Z:-3.52 [[ 9.97746625e-01 6.55556585e-02 1.42873594e-02 1.61255435e+02] [-6.55456709e-02 9.97848888e-01 -1.16669728e-03 -4.43292914e+00] [-1.43331093e-02 2.27593718e-04 9.99897250e-01 -3.52048400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584391418 meters 0.0198383557069854 Centerline is valid? [True, True] Translation: X:161.32, Y:-4.44, Z:-3.52 [[ 9.97920736e-01 6.31038991e-02 1.31187928e-02 1.61316779e+02] [-6.30952198e-02 9.98006933e-01 -1.07484070e-03 -4.43973394e+00] [-1.31604728e-02 2.44872709e-04 9.99913367e-01 -3.52276711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644391418 meters 0.020148591846993958 Centerline is valid? [True, True] Translation: X:161.38, Y:-4.44, Z:-3.52 [[ 9.98092871e-01 6.04341398e-02 1.25831587e-02 1.61377649e+02] [-6.04258758e-02 9.98172149e-01 -1.03625429e-03 -4.44381992e+00] [-1.26227837e-02 2.73929633e-04 9.99920292e-01 -3.52238163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704391418 meters 0.020152789380101246 Centerline is valid? [True, True] Translation: X:161.44, Y:-4.45, Z:-3.52 [[ 9.98082736e-01 6.06383191e-02 1.24034567e-02 1.61439225e+02] [-6.06302986e-02 9.98159768e-01 -1.02198684e-03 -4.44772156e+00] [-1.24426030e-02 2.68002141e-04 9.99922552e-01 -3.52362003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76439141799997 meters 0.019242085261086703 Centerline is valid? [True, True] Translation: X:161.50, Y:-4.45, Z:-3.52 [[ 9.97872427e-01 6.38123833e-02 1.33640819e-02 1.61499738e+02] [-6.38033453e-02 9.97961882e-01 -1.10199082e-03 -4.44858461e+00] [-1.34071649e-02 2.46973128e-04 9.99910089e-01 -3.52395844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82439141799998 meters 0.01705614411244949 Centerline is valid? [True, True] Translation: X:161.56, Y:-4.45, Z:-3.52 [[ 9.97664129e-01 6.68862758e-02 1.38748495e-02 1.61560936e+02] [-6.68768251e-02 9.97760583e-01 -1.14451838e-03 -4.44798029e+00] [-1.39203305e-02 2.13939056e-04 9.99903085e-01 -3.52356309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88439141799998 meters 0.015336252209073187 Centerline is valid? [True, True] Translation: X:161.62, Y:-4.45, Z:-3.52 [[ 9.97291487e-01 7.22533670e-02 1.37528844e-02 1.61621775e+02] [-7.22445888e-02 9.97386300e-01 -1.13467292e-03 -4.44621091e+00] [-1.37989225e-02 1.38028159e-04 9.99904781e-01 -3.52388939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94439141799998 meters 0.01432982153092001 Centerline is valid? [True, True] Translation: X:161.68, Y:-4.45, Z:-3.52 [[ 9.96986593e-01 7.62737047e-02 1.41440935e-02 1.61681700e+02] [-7.62648196e-02 9.97086914e-01 -1.16728868e-03 -4.44589667e+00] [-1.41919240e-02 8.50744250e-05 9.99899286e-01 -3.52416522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00439141799998 meters 0.013815083332803261 Centerline is valid? [True, True] Translation: X:161.74, Y:-4.45, Z:-3.52 [[ 9.96629941e-01 8.08118161e-02 1.40787642e-02 1.61742006e+02] [-8.08034738e-02 9.96729377e-01 -1.16130448e-03 -4.44561630e+00] [-1.41265650e-02 1.97777648e-05 9.99900215e-01 -3.52468452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06439141799999 meters 0.014103137530327343 Centerline is valid? [True, True] Translation: X:161.80, Y:-4.45, Z:-3.53 [[ 9.96668735e-01 8.05916791e-02 1.25065459e-02 1.61800678e+02] [-8.05850839e-02 9.96747200e-01 -1.03120746e-03 -4.45221844e+00] [-1.25489714e-02 1.99311865e-05 9.99921258e-01 -3.52930020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124391418 meters 0.01453351886215755 Centerline is valid? [True, True] Translation: X:161.86, Y:-4.46, Z:-3.53 [[ 9.96920671e-01 7.78134654e-02 9.70770615e-03 1.61860249e+02] [-7.78093630e-02 9.96967935e-01 -8.00132965e-04 -4.46053925e+00] [-9.74053287e-03 4.23186609e-05 9.99952559e-01 -3.53243968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184391418 meters 0.01553895135425998 Centerline is valid? [True, True] Translation: X:161.92, Y:-4.47, Z:-3.54 [[ 9.97194970e-01 7.44832423e-02 7.37818485e-03 1.61918289e+02] [-7.44807798e-02 9.97222264e-01 -6.08337678e-04 -4.47044926e+00] [-7.40300116e-03 5.70983113e-05 9.99972596e-01 -3.53569049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244391418 meters 0.01609756688979616 Centerline is valid? [True, True] Translation: X:161.98, Y:-4.48, Z:-3.54 [[ 9.97305937e-01 7.30785321e-02 6.35576114e-03 1.61976480e+02] [-7.30766753e-02 9.97326188e-01 -5.24209835e-04 -4.47712873e+00] [-6.37707552e-03 5.83396878e-05 9.99979665e-01 -3.53560761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304391418 meters 0.015762562382530085 Centerline is valid? [True, True] Translation: X:162.03, Y:-4.48, Z:-3.54 [[ 9.97280390e-01 7.33091994e-02 7.58846548e-03 1.62034047e+02] [-7.33065649e-02 9.97309258e-01 -6.25106224e-04 -4.48397884e+00] [-7.61387292e-03 6.71218411e-05 9.99971012e-01 -3.53511325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364391418 meters 0.015265222256212194 Centerline is valid? [True, True] Translation: X:162.09, Y:-4.49, Z:-3.53 [[ 9.97227099e-01 7.39811138e-02 8.05656172e-03 1.62092826e+02] [-7.39781770e-02 9.97259641e-01 -6.62336402e-04 -4.48898719e+00] [-8.08348423e-03 6.44900593e-05 9.99967326e-01 -3.53478612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424391418 meters 0.015544657340412563 Centerline is valid? [True, True] Translation: X:162.15, Y:-4.50, Z:-3.54 [[ 9.97261656e-01 7.33965181e-02 9.06315474e-03 1.62150446e+02] [-7.33927845e-02 9.97302835e-01 -7.44312556e-04 -4.49720453e+00] [-9.09333987e-03 7.71042089e-05 9.99958652e-01 -3.53557499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48439141799997 meters 0.015247386327665598 Centerline is valid? [True, True] Translation: X:162.21, Y:-4.51, Z:-3.53 [[ 9.97320696e-01 7.26388986e-02 8.66144187e-03 1.62209889e+02] [-7.26354746e-02 9.97358303e-01 -7.09643916e-04 -4.50505802e+00] [-8.69010872e-03 7.86146230e-05 9.99962237e-01 -3.53452646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54439141799998 meters 0.015125851908585414 Centerline is valid? [True, True] Translation: X:162.27, Y:-4.51, Z:-3.54 [[ 9.97235620e-01 7.37000711e-02 9.45604971e-03 1.62268404e+02] [-7.36960402e-02 9.97280449e-01 -7.74490727e-04 -4.51092953e+00] [-9.48741352e-03 7.54763212e-05 9.99954991e-01 -3.53561298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60439141799998 meters 0.014603055023044636 Centerline is valid? [True, True] Translation: X:162.33, Y:-4.52, Z:-3.54 [[ 9.96934630e-01 7.76834728e-02 9.30702301e-03 1.62327603e+02] [-7.76797497e-02 9.96978072e-01 -7.61399964e-04 -4.51556581e+00] [-9.33804605e-03 3.60987740e-05 9.99956399e-01 -3.53790821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66439141799998 meters 0.01434359612649003 Centerline is valid? [True, True] Translation: X:162.39, Y:-4.52, Z:-3.54 [[ 9.96792712e-01 7.94558813e-02 9.54217231e-03 1.62386031e+02] [-7.94520479e-02 9.96838383e-01 -7.80741929e-04 -4.52075909e+00] [-9.57403815e-03 2.00927334e-05 9.99954168e-01 -3.53985967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72439141799998 meters 0.014475396806615587 Centerline is valid? [True, True] Translation: X:162.45, Y:-4.53, Z:-3.54 [[ 9.96817087e-01 7.91952367e-02 9.15474343e-03 1.62445408e+02] [-7.91917091e-02 9.96859124e-01 -7.47762731e-04 -4.52932047e+00] [-9.18520877e-03 2.04028893e-05 9.99957815e-01 -3.54237432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78439141799998 meters 0.014853104014650318 Centerline is valid? [True, True] Translation: X:162.50, Y:-4.54, Z:-3.54 [[ 9.96958541e-01 7.74815504e-02 8.38318500e-03 1.62504556e+02] [-7.74785341e-02 9.96993785e-01 -6.84457559e-04 -4.53774327e+00] [-8.41101618e-03 3.28589236e-05 9.99964626e-01 -3.54447851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844391418 meters 0.015727728644207087 Centerline is valid? [True, True] Translation: X:162.56, Y:-4.55, Z:-3.55 [[ 9.97251370e-01 7.36728080e-02 7.87549080e-03 1.62563755e+02] [-7.36700357e-02 9.97282464e-01 -6.41930814e-04 -4.54969218e+00] [-7.90138171e-03 5.99786960e-05 9.99968782e-01 -3.54645149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904391418 meters 0.017251594609572474 Centerline is valid? [True, True] Translation: X:162.62, Y:-4.56, Z:-3.54 [[ 9.97645488e-01 6.78088187e-02 1.02685946e-02 1.62623580e+02] [-6.78037910e-02 9.97698324e-01 -8.37359259e-04 -4.56288781e+00] [-1.03017400e-02 1.39138042e-04 9.99946926e-01 -3.54461214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964391418 meters 0.01908636462701879 Centerline is valid? [True, True] Translation: X:162.68, Y:-4.57, Z:-3.54 [[ 9.97867730e-01 6.39593602e-02 1.30074818e-02 1.62683552e+02] [-6.39509935e-02 9.97952479e-01 -1.05856844e-03 -4.57399538e+00] [-1.30485540e-02 2.24469901e-04 9.99914839e-01 -3.54393308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024391418 meters 0.019773060383189062 Centerline is valid? [True, True] Translation: X:162.75, Y:-4.58, Z:-3.54 [[ 9.97962041e-01 6.20203840e-02 1.50078681e-02 1.62745034e+02] [-6.20089676e-02 9.98074840e-01 -1.22528663e-03 -4.58201347e+00] [-1.50549683e-02 2.92167145e-04 9.99886625e-01 -3.54311593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084391418 meters 0.018670819923017598 Centerline is valid? [True, True] Translation: X:162.81, Y:-4.59, Z:-3.54 [[ 9.97830559e-01 6.39824229e-02 1.55056624e-02 1.62806727e+02] [-6.39703972e-02 9.97950987e-01 -1.27082460e-03 -4.58621511e+00] [-1.55552015e-02 2.76164240e-04 9.99878972e-01 -3.54472350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144391418 meters 0.018110801423163875 Centerline is valid? [True, True] Translation: X:162.87, Y:-4.59, Z:-3.55 [[ 9.97749911e-01 6.53899222e-02 1.48079022e-02 1.62869245e+02] [-6.53790253e-02 9.97859758e-01 -1.21929847e-03 -4.59032949e+00] [-1.48559395e-02 2.48428733e-04 9.99889614e-01 -3.54713501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204391418 meters 0.016588168619626503 Centerline is valid? [True, True] Translation: X:162.93, Y:-4.59, Z:-3.55 [[ 9.97439323e-01 7.03193008e-02 1.30381122e-02 1.62930628e+02] [-7.03112665e-02 9.97524522e-01 -1.07414538e-03 -4.59183365e+00] [-1.30813698e-02 1.54668653e-04 9.99914423e-01 -3.55107809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26439141799997 meters 0.01481743659091655 Centerline is valid? [True, True] Translation: X:162.99, Y:-4.59, Z:-3.55 [[ 9.97131553e-01 7.45294210e-02 1.31920874e-02 1.62992014e+02] [-7.45215184e-02 9.97218810e-01 -1.09028183e-03 -4.59255027e+00] [-1.32366558e-02 1.04060029e-04 9.99912386e-01 -3.55146056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32439141799998 meters 0.013891530304576339 Centerline is valid? [True, True] Translation: X:163.05, Y:-4.59, Z:-3.55 [[ 9.96529826e-01 8.20678647e-02 1.38986470e-02 1.63052408e+02] [-8.20598136e-02 9.96626743e-01 -1.14953573e-03 -4.59040973e+00] [-1.39461032e-02 5.02626490e-06 9.99902748e-01 -3.55206259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38439141799998 meters 0.01418980980140937 Centerline is valid? [True, True] Translation: X:163.11, Y:-4.59, Z:-3.55 [[ 9.96167618e-01 8.62986227e-02 1.42346304e-02 1.63112592e+02] [-8.62905975e-02 9.96269313e-01 -1.17815402e-03 -4.59086291e+00] [-1.42831985e-02 -5.46758789e-05 9.99897988e-01 -3.55364350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44439141799998 meters 0.014937848716359598 Centerline is valid? [True, True] Translation: X:163.17, Y:-4.59, Z:-3.56 [[ 9.95879226e-01 8.97837959e-02 1.27842215e-02 1.63172593e+02] [-8.97776156e-02 9.95961275e-01 -1.05766868e-03 -4.59359464e+00] [-1.28275511e-02 -9.44266591e-05 9.99917719e-01 -3.55656292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50439141799998 meters 0.015006767827698747 Centerline is valid? [True, True] Translation: X:163.23, Y:-4.60, Z:-3.56 [[ 9.95863504e-01 8.99907232e-02 1.25519727e-02 1.63231845e+02] [-8.99847887e-02 9.95942599e-01 -1.03791505e-03 -4.59919788e+00] [-1.25944470e-02 -9.58648852e-05 9.99920682e-01 -3.55822501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56439141799999 meters 0.01407480128873713 Centerline is valid? [True, True] Translation: X:163.29, Y:-4.61, Z:-3.56 [[ 9.96297629e-01 8.48682320e-02 1.37265533e-02 1.63290676e+02] [-8.48606607e-02 9.96392183e-01 -1.13414722e-03 -4.61244891e+00] [-1.37732835e-02 -3.48961972e-05 9.99905143e-01 -3.55802496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624391418 meters 0.013822096932328502 Centerline is valid? [True, True] Translation: X:163.35, Y:-4.63, Z:-3.56 [[ 9.96775694e-01 7.84878737e-02 1.66694323e-02 1.63350968e+02] [-7.84758288e-02 9.96915066e-01 -1.37648056e-03 -4.62672821e+00] [-1.67260453e-02 6.38948490e-05 9.99860108e-01 -3.55575498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684391418 meters 0.017388861912545208 Centerline is valid? [True, True] Translation: X:163.41, Y:-4.65, Z:-3.55 [[ 9.97521534e-01 6.72619967e-02 2.06546182e-02 1.63411569e+02] [-6.72410728e-02 9.97735298e-01 -1.70665712e-03 -4.64753804e+00] [-2.07226349e-02 3.13588535e-04 9.99785214e-01 -3.55356893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744391418 meters 0.02333174327249013 Centerline is valid? [True, True] Translation: X:163.47, Y:-4.67, Z:-3.56 [[ 9.98181430e-01 5.70531557e-02 1.94620197e-02 1.63470033e+02] [-5.70326068e-02 9.98371019e-01 -1.60970886e-03 -4.66611785e+00] [-1.95221554e-02 4.96811770e-04 9.99809301e-01 -3.55666827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804391418 meters 0.02670243652100338 Centerline is valid? [True, True] Translation: X:163.53, Y:-4.68, Z:-3.56 [[ 9.98472188e-01 5.24822694e-02 1.72887741e-02 1.63530758e+02] [-5.24653609e-02 9.98621720e-01 -1.43043351e-03 -4.67704929e+00] [-1.73400177e-02 5.21186308e-04 9.99849515e-01 -3.56121663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864391418 meters 0.029676707391179797 Centerline is valid? [True, True] Translation: X:163.59, Y:-4.69, Z:-3.56 [[ 9.98648887e-01 4.96566834e-02 1.53170962e-02 1.63591254e+02] [-4.96430260e-02 9.98766216e-01 -1.27081215e-03 -4.68507274e+00] [-1.53613026e-02 5.08708133e-04 9.99881879e-01 -3.56449745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924391418 meters 0.028708786314973016 Centerline is valid? [True, True] Translation: X:163.65, Y:-4.69, Z:-3.56 [[ 9.98584819e-01 5.03397695e-02 1.71542262e-02 1.63653428e+02] [-5.03226509e-02 9.98731991e-01 -1.42839689e-03 -4.68679723e+00] [-1.72043797e-02 5.63129315e-04 9.99851835e-01 -3.56360129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98439141799997 meters 0.027965327308505334 Centerline is valid? [True, True] Translation: X:163.72, Y:-4.69, Z:-3.56 [[ 9.98426722e-01 5.27997681e-02 1.88749825e-02 1.63715290e+02] [-5.27793653e-02 9.98604951e-01 -1.57781319e-03 -4.68610508e+00] [-1.89319591e-02 5.79121252e-04 9.99820607e-01 -3.56275208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04439141799998 meters 0.027926932135896938 Centerline is valid? [True, True] Translation: X:163.78, Y:-4.69, Z:-3.57 [[ 9.98364524e-01 5.43205357e-02 1.78201436e-02 1.63777037e+02] [-5.43025055e-02 9.98523412e-01 -1.49446991e-03 -4.68581658e+00] [-1.78750110e-02 5.24347292e-04 9.99840092e-01 -3.56548674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10439141799998 meters 0.029173562592448805 Centerline is valid? [True, True] Translation: X:163.84, Y:-4.69, Z:-3.57 [[ 9.98433412e-01 5.36345263e-02 1.59392229e-02 1.63839185e+02] [-5.36199591e-02 9.98560516e-01 -1.34018452e-03 -4.68901502e+00] [-1.59881588e-02 4.83424523e-04 9.99872064e-01 -3.56875207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16439141799998 meters 0.0331208986017087 Centerline is valid? [True, True] Translation: X:163.90, Y:-4.69, Z:-3.57 [[ 9.98688055e-01 4.89722991e-02 1.49626840e-02 1.63900526e+02] [-4.89588593e-02 9.98799997e-01 -1.26342597e-03 -4.69272411e+00] [-1.50066016e-02 5.29212487e-04 9.99887255e-01 -3.56989799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22439141799998 meters 0.036106247094925714 Centerline is valid? [True, True] Translation: X:163.96, Y:-4.70, Z:-3.57 [[ 9.98808829e-01 4.58325068e-02 1.67423018e-02 1.63962136e+02] [-4.58152348e-02 9.98948930e-01 -1.41394101e-03 -4.69695915e+00] [-1.67895089e-02 6.45204275e-04 9.99858838e-01 -3.56823304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28439141799998 meters 0.031209060173690267 Centerline is valid? [True, True] Translation: X:164.02, Y:-4.69, Z:-3.57 [[ 9.98953066e-01 4.18095842e-02 1.85669078e-02 1.64024523e+02] [-4.17875903e-02 9.99125282e-01 -1.57113418e-03 -4.68743993e+00] [-1.86163555e-02 7.93622969e-04 9.99826386e-01 -3.56642415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344391418 meters 0.03237708881923844 Centerline is valid? [True, True] Translation: X:164.09, Y:-4.69, Z:-3.57 [[ 9.98994610e-01 4.12380502e-02 1.75838691e-02 1.64087081e+02] [-4.12182428e-02 9.99149060e-01 -1.48753488e-03 -4.68775813e+00] [-1.76302493e-02 7.61263146e-04 9.99844285e-01 -3.56984900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404391418 meters 0.03238121799962919 Centerline is valid? [True, True] Translation: X:164.15, Y:-4.68, Z:-3.58 [[ 9.98942612e-01 4.37496048e-02 1.41290452e-02 1.64149509e+02] [-4.37370248e-02 9.99042360e-01 -1.19828512e-03 -4.68096209e+00] [-1.41679392e-02 5.79055668e-04 9.99899462e-01 -3.57608068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464391418 meters 0.031015454577017355 Centerline is valid? [True, True] Translation: X:164.21, Y:-4.68, Z:-3.58 [[ 9.98785585e-01 4.74849686e-02 1.31351891e-02 1.64210708e+02] [-4.74743413e-02 9.98871830e-01 -1.11987236e-03 -4.67554345e+00] [-1.31735474e-02 4.94927922e-04 9.99913103e-01 -3.57866738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524391418 meters 0.02516015394666592 Centerline is valid? [True, True] Translation: X:164.27, Y:-4.66, Z:-3.58 [[ 9.98373392e-01 5.46694056e-02 1.61810535e-02 1.64273211e+02] [-5.46542126e-02 9.98504388e-01 -1.37999898e-03 -4.66076375e+00] [-1.62322966e-02 4.93391526e-04 9.99868126e-01 -3.57577543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584391418 meters 0.023836529369962285 Centerline is valid? [True, True] Translation: X:164.33, Y:-4.66, Z:-3.58 [[ 9.98141448e-01 5.81106295e-02 1.83522537e-02 1.64334361e+02] [-5.80916646e-02 9.98310026e-01 -1.56525236e-03 -4.65693734e+00] [-1.84121967e-02 4.96230287e-04 9.99830358e-01 -3.57542543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644391418 meters 0.02238316408478379 Centerline is valid? [True, True] Translation: X:164.40, Y:-4.65, Z:-3.58 [[ 9.97992795e-01 6.05424887e-02 1.85738696e-02 1.64396659e+02] [-6.05234351e-02 9.98165515e-01 -1.58675857e-03 -4.64946343e+00] [-1.86358624e-02 4.59419225e-04 9.99826232e-01 -3.57797756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704391418 meters 0.02203746503040139 Centerline is valid? [True, True] Translation: X:164.46, Y:-4.65, Z:-3.58 [[ 9.97920840e-01 6.22481794e-02 1.67081184e-02 1.64457495e+02] [-6.22329888e-02 9.98060627e-01 -1.42808330e-03 -4.64737241e+00] [-1.67646107e-02 3.85317942e-04 9.99859390e-01 -3.58246886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76439141799997 meters 0.01958064749750695 Centerline is valid? [True, True] Translation: X:164.52, Y:-4.64, Z:-3.59 [[ 9.97705351e-01 6.61520295e-02 1.44201743e-02 1.64517902e+02] [-6.61411119e-02 9.97809517e-01 -1.23322461e-03 -4.63856176e+00] [-1.44701675e-02 2.76628435e-04 9.99895263e-01 -3.58622604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82439141799998 meters 0.01722844241151187 Centerline is valid? [True, True] Translation: X:164.58, Y:-4.63, Z:-3.59 [[ 9.97395373e-01 7.03622216e-02 1.58627586e-02 1.64577599e+02] [-7.03495501e-02 9.97521479e-01 -1.35610736e-03 -4.63110112e+00] [-1.59188612e-02 2.36637270e-04 9.99873259e-01 -3.58545161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88439141799998 meters 0.01615304375906304 Centerline is valid? [True, True] Translation: X:164.64, Y:-4.63, Z:-3.58 [[ 9.97291859e-01 7.13872170e-02 1.76865200e-02 1.64637094e+02] [-7.13716545e-02 9.97448648e-01 -1.51036404e-03 -4.62941119e+00] [-1.77492161e-02 2.43957569e-04 9.99842440e-01 -3.58468803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94439141799998 meters 0.017236019650091944 Centerline is valid? [True, True] Translation: X:164.70, Y:-4.63, Z:-3.59 [[ 9.97475729e-01 6.85730868e-02 1.84364083e-02 1.64696068e+02] [-6.85557269e-02 9.97646049e-01 -1.57272288e-03 -4.63089945e+00] [-1.85008564e-02 3.04831529e-04 9.99828798e-01 -3.58642373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00439141799998 meters 0.018399532873019563 Centerline is valid? [True, True] Translation: X:164.76, Y:-4.64, Z:-3.59 [[ 9.97719711e-01 6.49058977e-02 1.85095184e-02 1.64755547e+02] [-6.48878017e-02 9.97891320e-01 -1.57719751e-03 -4.63550787e+00] [-1.85728572e-02 3.72559079e-04 9.99827440e-01 -3.58788827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06439141799999 meters 0.021494456480533185 Centerline is valid? [True, True] Translation: X:164.81, Y:-4.64, Z:-3.59 [[ 9.97987346e-01 6.06287651e-02 1.85852356e-02 1.64814135e+02] [-6.06098012e-02 9.98160282e-01 -1.58247505e-03 -4.64353305e+00] [-1.86469875e-02 4.52842642e-04 9.99826027e-01 -3.58963694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124391418 meters 0.02331415664468575 Centerline is valid? [True, True] Translation: X:164.87, Y:-4.65, Z:-3.59 [[ 9.98217467e-01 5.65176749e-02 1.91739735e-02 1.64874305e+02] [-5.64967070e-02 9.98401449e-01 -1.63392070e-03 -4.65024113e+00] [-1.92356684e-02 5.47741815e-04 9.99814827e-01 -3.59028040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184391418 meters 0.026612090051368366 Centerline is valid? [True, True] Translation: X:164.93, Y:-4.66, Z:-3.59 [[ 9.98426194e-01 5.21088517e-02 2.07317073e-02 1.64933927e+02] [-5.20833881e-02 9.98641177e-01 -1.76666384e-03 -4.65774695e+00] [-2.07955954e-02 6.84105891e-04 9.99783514e-01 -3.58988305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244391418 meters 0.026847927433374094 Centerline is valid? [True, True] Translation: X:164.99, Y:-4.66, Z:-3.59 [[ 9.98402809e-01 5.21256162e-02 2.17888004e-02 1.64994715e+02] [-5.20974934e-02 9.98640277e-01 -1.85673707e-03 -4.66181430e+00] [-2.18559572e-02 7.18629625e-04 9.99760872e-01 -3.59073976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304391418 meters 0.022137012412127673 Centerline is valid? [True, True] Translation: X:165.06, Y:-4.66, Z:-3.59 [[ 9.98113875e-01 5.78472575e-02 2.05520861e-02 1.65055379e+02] [-5.78234313e-02 9.98325288e-01 -1.75218024e-03 -4.65733693e+00] [-2.06190261e-02 5.60483266e-04 9.99787248e-01 -3.59399190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364391418 meters 0.01967358279381344 Centerline is valid? [True, True] Translation: X:165.12, Y:-4.66, Z:-3.60 [[ 9.97691118e-01 6.53505369e-02 1.84862019e-02 1.65115582e+02] [-6.53325383e-02 9.97862302e-01 -1.57653086e-03 -4.65549446e+00] [-1.85497111e-02 3.65140351e-04 9.99827873e-01 -3.59780266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424391418 meters 0.014532699965058323 Centerline is valid? [True, True] Translation: X:165.18, Y:-4.64, Z:-3.60 [[ 9.96723195e-01 7.91538566e-02 1.66595396e-02 1.65175510e+02] [-7.91411683e-02 9.96862406e-01 -1.42056518e-03 -4.64471814e+00] [-1.67197119e-02 9.74548341e-05 9.99860211e-01 -3.60118587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48439141799997 meters 0.013496884421536863 Centerline is valid? [True, True] Translation: X:165.23, Y:-4.64, Z:-3.60 [[ 9.95831811e-01 8.92106500e-02 1.89859163e-02 1.65234688e+02] [-8.91960105e-02 9.96012778e-01 -1.61817889e-03 -4.63918336e+00] [-1.90545740e-02 -8.20339728e-05 9.99818442e-01 -3.59947990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54439141799998 meters 0.014529930810894199 Centerline is valid? [True, True] Translation: X:165.29, Y:-4.64, Z:-3.60 [[ 9.95392683e-01 9.36818714e-02 2.04233490e-02 1.65293829e+02] [-9.36659101e-02 9.95602166e-01 -1.73881910e-03 -4.64068197e+00] [-2.04964263e-02 -1.82163758e-04 9.99789910e-01 -3.59951540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60439141799998 meters 0.01589542803124175 Centerline is valid? [True, True] Translation: X:165.35, Y:-4.64, Z:-3.60 [[ 9.95076783e-01 9.70919522e-02 1.98833825e-02 1.65351024e+02] [-9.70775356e-02 9.95275385e-01 -1.69127790e-03 -4.64495841e+00] [-1.99536507e-02 -2.47278403e-04 9.99800876e-01 -3.60262256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66439141799998 meters 0.015234501205890295 Centerline is valid? [True, True] Translation: X:165.41, Y:-4.65, Z:-3.61 [[ 9.95247008e-01 9.55941512e-02 1.85782412e-02 1.65408892e+02] [-9.55813383e-02 9.95420372e-01 -1.57843409e-03 -4.65498386e+00] [-1.86440488e-02 -2.04801349e-04 9.99826164e-01 -3.60633849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72439141799998 meters 0.014002552566757774 Centerline is valid? [True, True] Translation: X:165.47, Y:-4.67, Z:-3.61 [[ 9.95676236e-01 9.14298869e-02 1.64136717e-02 1.65467033e+02] [-9.14193387e-02 9.95811510e-01 -1.39339312e-03 -4.66837904e+00] [-1.64723210e-02 -1.13158592e-04 9.99864316e-01 -3.61001724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78439141799998 meters 0.012487046222852533 Centerline is valid? [True, True] Translation: X:165.52, Y:-4.69, Z:-3.61 [[ 9.96239686e-01 8.49773532e-02 1.68919070e-02 1.65524129e+02] [-8.49652772e-02 9.96382883e-01 -1.43258473e-03 -4.68704806e+00] [-1.69525442e-02 -8.02779370e-06 9.99856295e-01 -3.60973479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844391418 meters 0.01251724952118745 Centerline is valid? [True, True] Translation: X:165.58, Y:-4.70, Z:-3.61 [[ 9.96444798e-01 8.22272706e-02 1.83423269e-02 1.65581820e+02] [-8.22125949e-02 9.96613603e-01 -1.55400002e-03 -4.69995846e+00] [-1.84079937e-02 4.05049490e-05 9.99830558e-01 -3.60883068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904391418 meters 0.012338157264115739 Centerline is valid? [True, True] Translation: X:165.64, Y:-4.71, Z:-3.61 [[ 9.96462578e-01 8.16322328e-02 1.99626791e-02 1.65638582e+02] [-8.16147630e-02 9.96662518e-01 -1.68962932e-03 -4.71294609e+00] [-2.00339823e-02 5.44030582e-05 9.99799298e-01 -3.60821012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964391418 meters 0.01233114503269759 Centerline is valid? [True, True] Translation: X:165.70, Y:-4.73, Z:-3.61 [[ 9.96539915e-01 8.08352000e-02 1.93356820e-02 1.65696380e+02] [-8.08186990e-02 9.96727478e-01 -1.63457582e-03 -4.72721926e+00] [-1.94045368e-02 6.62353913e-05 9.99811712e-01 -3.61154931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024391418 meters 0.013141628117350007 Centerline is valid? [True, True] Translation: X:165.76, Y:-4.74, Z:-3.61 [[ 9.96771055e-01 7.80489621e-02 1.88632974e-02 1.65755185e+02] [-7.80327869e-02 9.96949520e-01 -1.59315275e-03 -4.74079050e+00] [-1.89300992e-02 1.16052884e-04 9.99820803e-01 -3.61344649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084391418 meters 0.017038675665083367 Centerline is valid? [True, True] Translation: X:165.81, Y:-4.76, Z:-3.61 [[ 9.97260627e-01 7.10020706e-02 2.07352016e-02 1.65812497e+02] [-7.09810189e-02 9.97476131e-01 -1.75041433e-03 -4.76252281e+00] [-2.08071517e-02 2.73813561e-04 9.99783470e-01 -3.61235134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144391418 meters 0.020713955324754913 Centerline is valid? [True, True] Translation: X:165.87, Y:-4.78, Z:-3.61 [[ 9.97545088e-01 6.63956338e-02 2.22579667e-02 1.65872822e+02] [-6.63702539e-02 9.97793297e-01 -1.87786937e-03 -4.77875022e+00] [-2.23335323e-02 3.95992469e-04 9.99750497e-01 -3.61201766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204391418 meters 0.021246123233302393 Centerline is valid? [True, True] Translation: X:165.93, Y:-4.79, Z:-3.62 [[ 9.97839278e-01 6.18584512e-02 2.21428642e-02 1.65934096e+02] [-6.18321987e-02 9.98084809e-01 -1.86894898e-03 -4.79118881e+00] [-2.22160667e-02 4.95768723e-04 9.99753070e-01 -3.61504083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26439141799997 meters 0.02056193530321174 Centerline is valid? [True, True] Translation: X:166.00, Y:-4.80, Z:-3.62 [[ 9.97901303e-01 6.15486690e-02 2.01184282e-02 1.65995955e+02] [-6.15269135e-02 9.98103978e-01 -1.69914753e-03 -4.79836774e+00] [-2.01848635e-02 4.57756740e-04 9.99796160e-01 -3.61934807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32439141799998 meters 0.01985578750931467 Centerline is valid? [True, True] Translation: X:166.06, Y:-4.80, Z:-3.62 [[ 9.97805909e-01 6.39398034e-02 1.71775711e-02 1.66057687e+02] [-6.39242270e-02 9.97953695e-01 -1.45489704e-03 -4.80447685e+00] [-1.72354463e-02 3.53641909e-04 9.99851396e-01 -3.62409130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38439141799998 meters 0.016790574845206265 Centerline is valid? [True, True] Translation: X:166.12, Y:-4.80, Z:-3.62 [[ 9.97470101e-01 6.91510068e-02 1.64783680e-02 1.66118253e+02] [-6.91372834e-02 9.97606170e-01 -1.40171881e-03 -4.80386735e+00] [-1.65358518e-02 2.58903012e-04 9.99863240e-01 -3.62437428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44439141799998 meters 0.015433109118221133 Centerline is valid? [True, True] Translation: X:166.18, Y:-4.81, Z:-3.62 [[ 9.97242505e-01 7.21107250e-02 1.75336414e-02 1.66177682e+02] [-7.20956414e-02 9.97396608e-01 -1.49166912e-03 -4.80616499e+00] [-1.75955598e-02 2.23456730e-04 9.99845161e-01 -3.62434110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50439141799998 meters 0.014338359726531408 Centerline is valid? [True, True] Translation: X:166.24, Y:-4.81, Z:-3.62 [[ 9.97077149e-01 7.39890213e-02 1.90468811e-02 1.66237414e+02] [-7.39715807e-02 9.97259035e-01 -1.61953939e-03 -4.80931110e+00] [-1.91145024e-02 2.05877816e-04 9.99817280e-01 -3.62382135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56439141799999 meters 0.014866842305950239 Centerline is valid? [True, True] Translation: X:166.30, Y:-4.82, Z:-3.63 [[ 9.97181391e-01 7.26776350e-02 1.86342525e-02 1.66297585e+02] [-7.26607300e-02 9.97355459e-01 -1.58354615e-03 -4.81562140e+00] [-1.87000619e-02 2.25104360e-04 9.99825113e-01 -3.62581462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624391418 meters 0.015554344082545867 Centerline is valid? [True, True] Translation: X:166.36, Y:-4.82, Z:-3.63 [[ 9.97376808e-01 7.01465310e-02 1.78596707e-02 1.66357610e+02] [-7.01305966e-02 9.97536664e-01 -1.51772188e-03 -4.82148617e+00] [-1.79221393e-02 2.61231242e-04 9.99839351e-01 -3.62657223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684391418 meters 0.01696194009909148 Centerline is valid? [True, True] Translation: X:166.42, Y:-4.83, Z:-3.63 [[ 9.97416022e-01 6.94093231e-02 1.85371308e-02 1.66417809e+02] [-6.93920359e-02 9.97588224e-01 -1.57494329e-03 -4.82870708e+00] [-1.86017391e-02 2.84544431e-04 9.99826932e-01 -3.62685898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744391418 meters 0.016088426476494923 Centerline is valid? [True, True] Translation: X:166.48, Y:-4.83, Z:-3.63 [[ 9.97461883e-01 6.85135383e-02 1.93826472e-02 1.66478170e+02] [-6.84944234e-02 9.97650136e-01 -1.64911747e-03 -4.83061374e+00] [-1.94500875e-02 3.17328571e-04 9.99810779e-01 -3.62560076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804391418 meters 0.016375481089397754 Centerline is valid? [True, True] Translation: X:166.54, Y:-4.83, Z:-3.63 [[ 9.97464730e-01 6.83131569e-02 1.99355423e-02 1.66539213e+02] [-6.82928976e-02 9.97663873e-01 -1.69606888e-03 -4.83473989e+00] [-2.00048342e-02 3.30312940e-04 9.99799829e-01 -3.62633450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864391418 meters 0.017023870400276905 Centerline is valid? [True, True] Translation: X:166.60, Y:-4.84, Z:-3.63 [[ 9.97465160e-01 6.85676577e-02 1.90192205e-02 1.66599281e+02] [-6.85492524e-02 9.97646420e-01 -1.61873968e-03 -4.83875639e+00] [-1.90854504e-02 3.10883093e-04 9.99817808e-01 -3.62884906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924391418 meters 0.017275300341180293 Centerline is valid? [True, True] Translation: X:166.66, Y:-4.84, Z:-3.63 [[ 9.97475578e-01 6.86424732e-02 1.81846850e-02 1.66659808e+02] [-6.86256215e-02 9.97641279e-01 -1.54983765e-03 -4.84215153e+00] [-1.82481771e-02 2.97989901e-04 9.99833444e-01 -3.63077027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98439141799997 meters 0.01710814050835724 Centerline is valid? [True, True] Translation: X:166.72, Y:-4.84, Z:-3.63 [[ 9.97606801e-01 6.72178253e-02 1.61998547e-02 1.66719914e+02] [-6.72042641e-02 9.97738283e-01 -1.38067527e-03 -4.84495587e+00] [-1.62560212e-02 2.88671724e-04 9.99867820e-01 -3.63368448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04439141799998 meters 0.019123354859789752 Centerline is valid? [True, True] Translation: X:166.78, Y:-4.85, Z:-3.64 [[ 9.97878780e-01 6.31755128e-02 1.57096822e-02 1.66780097e+02] [-6.31622590e-02 9.98002373e-01 -1.33889903e-03 -4.85211587e+00] [-1.57628858e-02 3.43799912e-04 9.99875699e-01 -3.63579757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10439141799998 meters 0.023944116959930633 Centerline is valid? [True, True] Translation: X:166.84, Y:-4.86, Z:-3.64 [[ 9.98359494e-01 5.47238923e-02 1.68409042e-02 1.66840248e+02] [-5.47074606e-02 9.98501394e-01 -1.43519943e-03 -4.86198563e+00] [-1.68942060e-02 5.11521872e-04 9.99857152e-01 -3.63571742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16439141799998 meters 0.026282654045007164 Centerline is valid? [True, True] Translation: X:166.90, Y:-4.87, Z:-3.64 [[ 9.98482649e-01 5.20037027e-02 1.81111606e-02 1.66901722e+02] [-5.19842613e-02 9.98646712e-01 -1.54290075e-03 -4.86747004e+00] [-1.81668876e-02 5.99064319e-04 9.99834789e-01 -3.63529977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22439141799998 meters 0.02538825043155082 Centerline is valid? [True, True] Translation: X:166.96, Y:-4.86, Z:-3.63 [[ 9.98267530e-01 5.52686695e-02 2.01820121e-02 1.66963617e+02] [-5.52450669e-02 9.98471334e-01 -1.72557792e-03 -4.86472178e+00] [-2.02465310e-02 6.07631795e-04 9.99794833e-01 -3.63435123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28439141799998 meters 0.02212470247990807 Centerline is valid? [True, True] Translation: X:167.03, Y:-4.86, Z:-3.64 [[ 9.97916681e-01 6.10783617e-02 2.07781445e-02 1.67025944e+02] [-6.10544767e-02 9.98132844e-01 -1.78255091e-03 -4.86057740e+00] [-2.08482237e-02 5.10238552e-04 9.99782522e-01 -3.63526772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344391418 meters 0.018239938188487587 Centerline is valid? [True, True] Translation: X:167.09, Y:-4.85, Z:-3.64 [[ 9.97408823e-01 6.88331163e-02 2.09198796e-02 1.67087010e+02] [-6.88105798e-02 9.97628126e-01 -1.79606406e-03 -4.85151067e+00] [-2.09938890e-02 3.51901093e-04 9.99779542e-01 -3.63746609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404391418 meters 0.017855568735574576 Centerline is valid? [True, True] Translation: X:167.15, Y:-4.85, Z:-3.64 [[ 9.97315910e-01 7.02630808e-02 2.05930853e-02 1.67146525e+02] [-7.02415466e-02 9.97528445e-01 -1.76806144e-03 -4.84901983e+00] [-2.06664178e-02 3.16825639e-04 9.99786377e-01 -3.63998043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464391418 meters 0.020049806408834615 Centerline is valid? [True, True] Translation: X:167.21, Y:-4.85, Z:-3.64 [[ 9.97535391e-01 6.71220521e-02 2.04395153e-02 1.67205807e+02] [-6.71001950e-02 9.97744700e-01 -1.75407771e-03 -4.85431446e+00] [-2.05111554e-02 3.78259138e-04 9.99789553e-01 -3.64190129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524391418 meters 0.021968021372588704 Centerline is valid? [True, True] Translation: X:167.27, Y:-4.86, Z:-3.64 [[ 9.98027582e-01 5.97597946e-02 1.92279281e-02 1.67266206e+02] [-5.97391014e-02 9.98212662e-01 -1.64930721e-03 -4.85887400e+00] [-1.92921236e-02 4.97394932e-04 9.99813766e-01 -3.64478234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584391418 meters 0.02427653012309613 Centerline is valid? [True, True] Translation: X:167.33, Y:-4.86, Z:-3.65 [[ 9.98276498e-01 5.58071421e-02 1.81548060e-02 1.67326901e+02] [-5.57880429e-02 9.98441420e-01 -1.55717475e-03 -4.86355273e+00] [-1.82134117e-02 5.41669865e-04 9.99833975e-01 -3.64751963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644391418 meters 0.02702283364464897 Centerline is valid? [True, True] Translation: X:167.39, Y:-4.87, Z:-3.65 [[ 9.98446958e-01 5.27153206e-02 1.80212800e-02 1.67386966e+02] [-5.26959910e-02 9.98609404e-01 -1.54611531e-03 -4.86879435e+00] [-1.80777236e-02 5.94064919e-04 9.99836408e-01 -3.64935273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70439141799997 meters 0.025435514118539254 Centerline is valid? [True, True] Translation: X:167.45, Y:-4.87, Z:-3.65 [[ 9.98321136e-01 5.43784320e-02 1.99473128e-02 1.67448221e+02] [-5.43550704e-02 9.98520203e-01 -1.71187931e-03 -4.86539481e+00] [-2.00108841e-02 6.24767708e-04 9.99799567e-01 -3.64825079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76439141799997 meters 0.02526532550767701 Centerline is valid? [True, True] Translation: X:167.51, Y:-4.87, Z:-3.65 [[ 9.98174832e-01 5.62904153e-02 2.18722370e-02 1.67508783e+02] [-5.62627849e-02 9.98414230e-01 -1.87707440e-03 -4.86625106e+00] [-2.19432140e-02 6.43055456e-04 9.99759012e-01 -3.64689955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82439141799998 meters 0.020655612842651536 Centerline is valid? [True, True] Translation: X:167.57, Y:-4.86, Z:-3.65 [[ 9.97926934e-01 6.00981293e-02 2.30228202e-02 1.67570253e+02] [-6.00685160e-02 9.98192300e-01 -1.97629355e-03 -4.85852256e+00] [-2.30999734e-02 5.89249911e-04 9.99732986e-01 -3.64715924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88439141799998 meters 0.021949471729333495 Centerline is valid? [True, True] Translation: X:167.63, Y:-4.86, Z:-3.65 [[ 9.97743523e-01 6.37525398e-02 2.10588583e-02 1.67630302e+02] [-6.37285766e-02 9.97965631e-01 -1.80774151e-03 -4.85763314e+00] [-2.11312649e-02 4.61611318e-04 9.99776603e-01 -3.65030898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94439141799998 meters 0.017179554400019195 Centerline is valid? [True, True] Translation: X:167.69, Y:-4.85, Z:-3.65 [[ 9.97572729e-01 6.72319424e-02 1.81250162e-02 1.67689345e+02] [-6.72147735e-02 9.97737318e-01 -1.55546536e-03 -4.85316451e+00] [-1.81885820e-02 3.33420961e-04 9.99834518e-01 -3.65325912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00439141799998 meters 0.02029241165772729 Centerline is valid? [True, True] Translation: X:167.75, Y:-4.86, Z:-3.66 [[ 9.97405419e-01 6.99519342e-02 1.70045898e-02 1.67747009e+02] [-6.99372374e-02 9.97550328e-01 -1.45815124e-03 -4.85652206e+00] [-1.70649346e-02 2.65113912e-04 9.99854348e-01 -3.65582697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06439141799999 meters 0.01697558078205239 Centerline is valid? [True, True] Translation: X:167.81, Y:-4.86, Z:-3.66 [[ 9.97308894e-01 7.14773491e-02 1.63082264e-02 1.67805457e+02] [-7.14640620e-02 9.97442197e-01 -1.39680905e-03 -4.85595897e+00] [-1.63663533e-02 2.27597985e-04 9.99866036e-01 -3.65706804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124391418 meters 0.018420742364069754 Centerline is valid? [True, True] Translation: X:167.86, Y:-4.86, Z:-3.66 [[ 9.97325305e-01 7.14285937e-02 1.54981415e-02 1.67863964e+02] [-7.14166128e-02 9.97445693e-01 -1.32583577e-03 -4.85750087e+00] [-1.55532570e-02 2.15464792e-04 9.99879018e-01 -3.65955017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184391418 meters 0.017622409048539706 Centerline is valid? [True, True] Translation: X:167.92, Y:-4.86, Z:-3.66 [[ 9.97482066e-01 6.91256500e-02 1.58484365e-02 1.67922771e+02] [-6.91128522e-02 9.97607929e-01 -1.35445243e-03 -4.86233527e+00] [-1.59041533e-02 2.55711357e-04 9.99873488e-01 -3.66031500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244391418 meters 0.01764970663131757 Centerline is valid? [True, True] Translation: X:167.98, Y:-4.87, Z:-3.66 [[ 9.97637036e-01 6.61855783e-02 1.84340083e-02 1.67981394e+02] [-6.61677961e-02 9.97807269e-01 -1.57356689e-03 -4.86568781e+00] [-1.84977350e-02 3.50110904e-04 9.99828841e-01 -3.65782213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304391418 meters 0.018619015959927484 Centerline is valid? [True, True] Translation: X:168.04, Y:-4.87, Z:-3.66 [[ 9.97739697e-01 6.41551168e-02 1.99904553e-02 1.68039455e+02] [-6.41338335e-02 9.97939851e-01 -1.70461818e-03 -4.87127846e+00] [-2.00586320e-02 4.18700698e-04 9.99798718e-01 -3.65744724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364391418 meters 0.020409834854848083 Centerline is valid? [True, True] Translation: X:168.10, Y:-4.88, Z:-3.66 [[ 9.97942400e-01 6.04258439e-02 2.14402445e-02 1.68098986e+02] [-6.04005495e-02 9.98172550e-01 -1.82597200e-03 -4.87940712e+00] [-2.15113994e-02 5.27212332e-04 9.99768464e-01 -3.65778267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424391418 meters 0.02131244537638106 Centerline is valid? [True, True] Translation: X:168.16, Y:-4.89, Z:-3.66 [[ 9.98024094e-01 5.90798206e-02 2.13888531e-02 1.68158346e+02] [-5.90543563e-02 9.98253108e-01 -1.82076563e-03 -4.88621062e+00] [-2.14590596e-02 5.54063013e-04 9.99769574e-01 -3.65947007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48439141799997 meters 0.020809781760054404 Centerline is valid? [True, True] Translation: X:168.22, Y:-4.89, Z:-3.66 [[ 9.97986671e-01 6.00924135e-02 2.02856323e-02 1.68217701e+02] [-6.00697328e-02 9.98192691e-01 -1.72611080e-03 -4.88998702e+00] [-2.03526960e-02 5.04083056e-04 9.99792735e-01 -3.66199868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54439141799998 meters 0.020676854485816198 Centerline is valid? [True, True] Translation: X:168.28, Y:-4.89, Z:-3.67 [[ 9.97845849e-01 6.28153655e-02 1.89180353e-02 1.68276289e+02] [-6.27961410e-02 9.98025078e-01 -1.60912124e-03 -4.89445740e+00] [-1.89817512e-02 4.17675333e-04 9.99819743e-01 -3.66512730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60439141799998 meters 0.017785608391736995 Centerline is valid? [True, True] Translation: X:168.34, Y:-4.89, Z:-3.67 [[ 9.97551564e-01 6.76806590e-02 1.76126626e-02 1.68335957e+02] [-6.76647668e-02 9.97706990e-01 -1.49736096e-03 -4.89310698e+00] [-1.76736190e-02 3.01938054e-04 9.99843764e-01 -3.66860602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66439141799998 meters 0.016961092330332838 Centerline is valid? [True, True] Translation: X:168.39, Y:-4.90, Z:-3.67 [[ 9.97301516e-01 7.11280701e-02 1.81792076e-02 1.68394631e+02] [-7.11117480e-02 9.97467161e-01 -1.54352225e-03 -4.89538472e+00] [-1.82429504e-02 2.46601850e-04 9.99833553e-01 -3.66986814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72439141799998 meters 0.015116747793180708 Centerline is valid? [True, True] Translation: X:168.45, Y:-4.89, Z:-3.67 [[ 9.96719501e-01 7.84563969e-02 1.98703295e-02 1.68452644e+02] [-7.84383865e-02 9.96917539e-01 -1.68535977e-03 -4.89304218e+00] [-1.99413073e-02 1.21234363e-04 9.99801145e-01 -3.66981126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78439141799998 meters 0.014586651442553592 Centerline is valid? [True, True] Translation: X:168.51, Y:-4.89, Z:-3.67 [[ 9.96077512e-01 8.60043597e-02 2.08048203e-02 1.68512187e+02] [-8.59863075e-02 9.96294760e-01 -1.76236317e-03 -4.89093089e+00] [-2.08793043e-02 -3.34793550e-05 9.99782003e-01 -3.66962658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844391418 meters 0.01481885413789213 Centerline is valid? [True, True] Translation: X:168.57, Y:-4.89, Z:-3.67 [[ 9.95924139e-01 8.77981621e-02 2.06541103e-02 1.68570822e+02] [-8.77807901e-02 9.96138282e-01 -1.74796309e-03 -4.89431406e+00] [-2.07278179e-02 -7.21954814e-05 9.99785153e-01 -3.67086462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904391418 meters 0.014903422056697993 Centerline is valid? [True, True] Translation: X:168.63, Y:-4.90, Z:-3.67 [[ 9.95906977e-01 8.79797429e-02 2.07088656e-02 1.68628645e+02] [-8.79623519e-02 9.96122261e-01 -1.75096451e-03 -4.90119456e+00] [-2.07826114e-02 -7.78027513e-05 9.99784015e-01 -3.67192000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964391418 meters 0.014591958523139568 Centerline is valid? [True, True] Translation: X:168.69, Y:-4.91, Z:-3.67 [[ 9.96161933e-01 8.50288413e-02 2.07725429e-02 1.68687205e+02] [-8.50107554e-02 9.96378490e-01 -1.75376054e-03 -4.91213758e+00] [-2.08464352e-02 -1.88600742e-05 9.99782689e-01 -3.67302471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024391418 meters 0.014847497002048144 Centerline is valid? [True, True] Translation: X:168.75, Y:-4.93, Z:-3.67 [[ 9.96577125e-01 8.00424976e-02 2.06696215e-02 1.68745305e+02] [-8.00235522e-02 9.96791448e-01 -1.74340805e-03 -4.92568567e+00] [-2.07428487e-02 8.33840538e-05 9.99784840e-01 -3.67459661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084391418 meters 0.017401366863764665 Centerline is valid? [True, True] Translation: X:168.80, Y:-4.94, Z:-3.68 [[ 9.97321057e-01 7.05786107e-02 1.92189905e-02 1.68803106e+02] [-7.05605005e-02 9.97506187e-01 -1.61964586e-03 -4.94331209e+00] [-1.92853743e-02 2.59205336e-04 9.99813986e-01 -3.67670284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144391418 meters 0.021376669412618288 Centerline is valid? [True, True] Translation: X:168.86, Y:-4.96, Z:-3.68 [[ 9.97944313e-01 6.14544827e-02 1.81795240e-02 1.68861641e+02] [-6.14367929e-02 9.98109803e-01 -1.53048428e-03 -4.95976749e+00] [-1.82392162e-02 4.10446431e-04 9.99833567e-01 -3.67924631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20439141799997 meters 0.02428062411073392 Centerline is valid? [True, True] Translation: X:168.92, Y:-4.97, Z:-3.68 [[ 9.98232086e-01 5.65245891e-02 1.83759133e-02 1.68920753e+02] [-5.65056945e-02 9.98401080e-01 -1.54623511e-03 -4.97156009e+00] [-1.84339320e-02 5.05157754e-04 9.99829953e-01 -3.68011728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26439141799997 meters 0.028333395254056447 Centerline is valid? [True, True] Translation: X:168.98, Y:-4.98, Z:-3.68 [[ 9.98497140e-01 5.10402075e-02 1.99589031e-02 1.68979417e+02] [-5.10168416e-02 9.98696383e-01 -1.67845696e-03 -4.98470451e+00] [-2.00185531e-02 6.57694281e-04 9.99799392e-01 -3.67975833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32439141799998 meters 0.030383107814184306 Centerline is valid? [True, True] Translation: X:169.04, Y:-4.99, Z:-3.68 [[ 9.98610174e-01 4.84885569e-02 2.06538016e-02 1.69039589e+02] [-4.84629929e-02 9.98823469e-01 -1.73676663e-03 -4.99370343e+00] [-2.07137150e-02 7.33407789e-04 9.99785179e-01 -3.68081170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38439141799998 meters 0.029854154890176177 Centerline is valid? [True, True] Translation: X:169.10, Y:-5.00, Z:-3.68 [[ 9.98654749e-01 4.68203976e-02 2.22832481e-02 1.69100196e+02] [-4.67902141e-02 9.98902980e-01 -1.87428617e-03 -4.99904412e+00] [-2.23465577e-02 8.29126836e-04 9.99749941e-01 -3.68174209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44439141799998 meters 0.03144924716409842 Centerline is valid? [True, True] Translation: X:169.16, Y:-5.01, Z:-3.68 [[ 9.98698921e-01 4.61623493e-02 2.16680162e-02 1.69161218e+02] [-4.61336175e-02 9.98933612e-01 -1.82427031e-03 -5.00534177e+00] [-2.17291223e-02 8.22272817e-04 9.99763557e-01 -3.68483707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50439141799998 meters 0.02957930375951244 Centerline is valid? [True, True] Translation: X:169.22, Y:-5.01, Z:-3.69 [[ 9.98635939e-01 4.73930441e-02 2.19125535e-02 1.69223250e+02] [-4.73638259e-02 9.98875990e-01 -1.85076858e-03 -5.00632066e+00] [-2.19756371e-02 8.10381651e-04 9.99758178e-01 -3.68564275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56439141799999 meters 0.02936852155710701 Centerline is valid? [True, True] Translation: X:169.28, Y:-5.01, Z:-3.69 [[ 9.98479393e-01 5.04803119e-02 2.21503935e-02 1.69284436e+02] [-5.04510697e-02 9.98724769e-01 -1.87736615e-03 -5.00605485e+00] [-2.22169167e-02 7.57000367e-04 9.99752887e-01 -3.68690394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624391418 meters 0.026269718496662275 Centerline is valid? [True, True] Translation: X:169.35, Y:-5.00, Z:-3.69 [[ 9.98438616e-01 5.17380167e-02 2.10596353e-02 1.69345712e+02] [-5.17118452e-02 9.98660451e-01 -1.78578536e-03 -5.00213356e+00] [-2.11238179e-02 6.93964460e-04 9.99776626e-01 -3.68874596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684391418 meters 0.024842989179607044 Centerline is valid? [True, True] Translation: X:169.41, Y:-5.00, Z:-3.69 [[ 9.98441512e-01 5.19080251e-02 2.04964561e-02 1.69406841e+02] [-5.18832706e-02 9.98651644e-01 -1.73802968e-03 -5.00143153e+00] [-2.05590373e-02 6.71897802e-04 9.99788415e-01 -3.68935574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744391418 meters 0.02589292840946046 Centerline is valid? [True, True] Translation: X:169.47, Y:-5.00, Z:-3.69 [[ 9.98539046e-01 5.03137152e-02 1.97054421e-02 1.69467636e+02] [-5.02905247e-02 9.98733233e-01 -1.67095438e-03 -5.00484033e+00] [-1.97645518e-02 6.77516174e-04 9.99804433e-01 -3.69070720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804391418 meters 0.028188274649553875 Centerline is valid? [True, True] Translation: X:169.53, Y:-5.01, Z:-3.69 [[ 9.98756757e-01 4.65690618e-02 1.77837716e-02 1.69527385e+02] [-4.65495800e-02 9.98914842e-01 -1.50808547e-03 -5.00869238e+00] [-1.78347035e-02 6.78383454e-04 9.99840719e-01 -3.69310020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864391418 meters 0.03044471311936949 Centerline is valid? [True, True] Translation: X:169.59, Y:-5.01, Z:-3.70 [[ 9.98983503e-01 4.22365405e-02 1.57491381e-02 1.69587060e+02] [-4.22207284e-02 9.99107415e-01 -1.33528673e-03 -5.01163272e+00] [-1.57914785e-02 6.68989337e-04 9.99875083e-01 -3.69522319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924391418 meters 0.03197081767905058 Centerline is valid? [True, True] Translation: X:169.65, Y:-5.02, Z:-3.70 [[ 9.99036705e-01 4.10183037e-02 1.55936181e-02 1.69647199e+02] [-4.10026610e-02 9.99158163e-01 -1.32167225e-03 -5.01553614e+00] [-1.56347035e-02 6.81019249e-04 9.99877539e-01 -3.69630782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98439141799997 meters 0.03233496362633853 Centerline is valid? [True, True] Translation: X:169.71, Y:-5.02, Z:-3.70 [[ 9.99013897e-01 4.17698579e-02 1.50503498e-02 1.69707622e+02] [-4.17553693e-02 9.99127050e-01 -1.27575922e-03 -5.01517127e+00] [-1.50904998e-02 6.46068280e-04 9.99885923e-01 -3.69725730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04439141799998 meters 0.031673729149752375 Centerline is valid? [True, True] Translation: X:169.77, Y:-5.01, Z:-3.70 [[ 9.98912935e-01 4.41849620e-02 1.48538881e-02 1.69767484e+02] [-4.41711180e-02 9.99023187e-01 -1.25895978e-03 -5.01437534e+00] [-1.48950057e-02 6.01478362e-04 9.99888882e-01 -3.69864024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10439141799998 meters 0.029499066928324165 Centerline is valid? [True, True] Translation: X:169.83, Y:-5.01, Z:-3.70 [[ 9.98641198e-01 4.96013913e-02 1.59830859e-02 1.69827380e+02] [-4.95860655e-02 9.98768937e-01 -1.35399170e-03 -5.00986334e+00] [-1.60305696e-02 5.59613544e-04 9.99871346e-01 -3.69826947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16439141799998 meters 0.026067211149476605 Centerline is valid? [True, True] Translation: X:169.89, Y:-5.00, Z:-3.70 [[ 9.98230032e-01 5.74248064e-02 1.54659416e-02 1.69888880e+02] [-5.74114055e-02 9.98349746e-01 -1.30943671e-03 -5.00207376e+00] [-1.55156130e-02 4.19197606e-04 9.99879538e-01 -3.69924224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22439141799998 meters 0.02320625302879971 Centerline is valid? [True, True] Translation: X:169.95, Y:-5.00, Z:-3.70 [[ 9.97996529e-01 6.14183435e-02 1.51893268e-02 1.69947877e+02] [-6.14058748e-02 9.98112050e-01 -1.28634811e-03 -4.99987880e+00] [-1.52396555e-02 3.51057050e-04 9.99883808e-01 -3.70151859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28439141799998 meters 0.021053451973727794 Centerline is valid? [True, True] Translation: X:170.01, Y:-5.00, Z:-3.70 [[ 9.97759552e-01 6.54974182e-02 1.36368930e-02 1.70006029e+02] [-6.54877578e-02 9.97852705e-01 -1.15423070e-03 -4.99710987e+00] [-1.36832097e-02 2.58595161e-04 9.99906347e-01 -3.70444147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344391418 meters 0.020593419996231523 Centerline is valid? [True, True] Translation: X:170.06, Y:-5.00, Z:-3.71 [[ 9.97690224e-01 6.67171520e-02 1.27686854e-02 1.70064808e+02] [-6.67087986e-02 9.97771903e-01 -1.07948074e-03 -4.99791731e+00] [-1.28122554e-02 2.25203721e-04 9.99917894e-01 -3.70616572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404391418 meters 0.018992372174397542 Centerline is valid? [True, True] Translation: X:170.12, Y:-5.00, Z:-3.71 [[ 9.97725464e-01 6.63420094e-02 1.19430805e-02 1.70123940e+02] [-6.63346824e-02 9.97796919e-01 -1.00902570e-03 -4.99793888e+00] [-1.19837097e-02 2.14490184e-04 9.99928170e-01 -3.70565005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464391418 meters 0.01974041345336109 Centerline is valid? [True, True] Translation: X:170.18, Y:-5.00, Z:-3.71 [[ 9.97801601e-01 6.52634162e-02 1.15174124e-02 1.70182179e+02] [-6.52565377e-02 9.97868047e-01 -9.72430725e-04 -5.00148794e+00] [-1.15563220e-02 2.18706475e-04 9.99933200e-01 -3.70695727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524391418 meters 0.019655832649417528 Centerline is valid? [True, True] Translation: X:170.24, Y:-5.01, Z:-3.71 [[ 9.97882771e-01 6.39729726e-02 1.17232476e-02 1.70240921e+02] [-6.39657725e-02 9.97951603e-01 -9.88489482e-04 -5.00559956e+00] [-1.17624704e-02 2.36510035e-04 9.99930792e-01 -3.70803134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584391418 meters 0.021094647529245156 Centerline is valid? [True, True] Translation: X:170.30, Y:-5.01, Z:-3.71 [[ 9.98075102e-01 6.08007298e-02 1.22213435e-02 1.70299163e+02] [-6.07926796e-02 9.98149884e-01 -1.02946968e-03 -5.01169712e+00] [-1.22613251e-02 2.84519840e-04 9.99924787e-01 -3.70908058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644391418 meters 0.022546250655211608 Centerline is valid? [True, True] Translation: X:170.36, Y:-5.02, Z:-3.71 [[ 9.98265693e-01 5.76226417e-02 1.20514052e-02 1.70357924e+02] [-5.76145933e-02 9.98338384e-01 -1.01424876e-03 -5.01775552e+00] [-1.20898241e-02 3.18152931e-04 9.99926865e-01 -3.71072165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70439141799997 meters 0.0242180307238198 Centerline is valid? [True, True] Translation: X:170.42, Y:-5.02, Z:-3.71 [[ 9.98358169e-01 5.59171184e-02 1.24193936e-02 1.70415421e+02] [-5.59084494e-02 9.98435353e-01 -1.04438440e-03 -5.02454742e+00] [-1.24583606e-02 3.48320663e-04 9.99922331e-01 -3.71259432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76439141799997 meters 0.02394247913947748 Centerline is valid? [True, True] Translation: X:170.47, Y:-5.03, Z:-3.71 [[ 9.98351971e-01 5.59591132e-02 1.27247617e-02 1.70474174e+02] [-5.59500343e-02 9.98432998e-01 -1.06863958e-03 -5.02801084e+00] [-1.27646221e-02 3.54927574e-04 9.99918466e-01 -3.71397217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82439141799998 meters 0.020857255595053897 Centerline is valid? [True, True] Translation: X:170.53, Y:-5.03, Z:-3.71 [[ 9.98115394e-01 5.98095326e-02 1.37288367e-02 1.70533139e+02] [-5.97993436e-02 9.98209753e-01 -1.15183668e-03 -5.02567517e+00] [-1.37731495e-02 3.28690493e-04 9.99905092e-01 -3.71426514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88439141799998 meters 0.01830280068848992 Centerline is valid? [True, True] Translation: X:170.59, Y:-5.02, Z:-3.71 [[ 9.97785380e-01 6.47922533e-02 1.50432737e-02 1.70592381e+02] [-6.47806054e-02 9.97898734e-01 -1.26080033e-03 -5.02405962e+00] [-1.50933539e-02 2.83495756e-04 9.99886049e-01 -3.71488282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94439141799998 meters 0.01673318791480811 Centerline is valid? [True, True] Translation: X:170.65, Y:-5.02, Z:-3.72 [[ 9.97352600e-01 7.11520270e-02 1.50060074e-02 1.70651830e+02] [-7.11411688e-02 9.97465465e-01 -1.25683239e-03 -5.02357136e+00] [-1.50574003e-02 1.85960149e-04 9.99886614e-01 -3.71793631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00439141799998 meters 0.016019913248038663 Centerline is valid? [True, True] Translation: X:170.71, Y:-5.03, Z:-3.72 [[ 9.97163848e-01 7.38682468e-02 1.44133036e-02 1.70710272e+02] [-7.38585448e-02 9.97268000e-01 -1.20499541e-03 -5.02610475e+00] [-1.44629374e-02 1.37032233e-04 9.99895397e-01 -3.72067593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06439141799999 meters 0.015686144962716777 Centerline is valid? [True, True] Translation: X:170.77, Y:-5.03, Z:-3.72 [[ 9.97077835e-01 7.51514682e-02 1.37130273e-02 1.70768736e+02] [-7.51428209e-02 9.97172124e-01 -1.14547261e-03 -5.02932923e+00] [-1.37603325e-02 1.11689801e-04 9.99905316e-01 -3.72291732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124391418 meters 0.015473512883698994 Centerline is valid? [True, True] Translation: X:170.83, Y:-5.04, Z:-3.72 [[ 9.97108395e-01 7.48516851e-02 1.31177071e-02 1.70827106e+02] [-7.48437592e-02 9.97194672e-01 -1.09477813e-03 -5.03510753e+00] [-1.31628536e-02 1.09833952e-04 9.99913360e-01 -3.72492027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184391418 meters 0.01672969007465066 Centerline is valid? [True, True] Translation: X:170.89, Y:-5.04, Z:-3.73 [[ 9.97120205e-01 7.48483959e-02 1.22071594e-02 1.70885270e+02] [-7.48415425e-02 9.97194919e-01 -1.01792346e-03 -5.04174312e+00] [-1.22491072e-02 1.01389412e-04 9.99924972e-01 -3.72657584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244391418 meters 0.015231996302525856 Centerline is valid? [True, True] Translation: X:170.94, Y:-5.05, Z:-3.73 [[ 9.97046463e-01 7.55744840e-02 1.36692686e-02 1.70942933e+02] [-7.55659745e-02 9.97140154e-01 -1.13868867e-03 -5.04718185e+00] [-1.37162324e-02 1.02393902e-04 9.99905923e-01 -3.72704115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304391418 meters 0.014878740943497257 Centerline is valid? [True, True] Translation: X:171.00, Y:-5.05, Z:-3.73 [[ 9.96946134e-01 7.68448769e-02 1.39021906e-02 1.71001575e+02] [-7.68362201e-02 9.97043057e-01 -1.15653991e-03 -5.05299678e+00] [-1.39499568e-02 8.48162126e-05 9.99902691e-01 -3.72824441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364391418 meters 0.014504691332225352 Centerline is valid? [True, True] Translation: X:171.06, Y:-5.06, Z:-3.73 [[ 9.96848041e-01 7.78162822e-02 1.54469712e-02 1.71060448e+02] [-7.78057331e-02 9.96967713e-01 -1.28363398e-03 -5.06028434e+00] [-1.55000192e-02 7.77250973e-05 9.99879864e-01 -3.72822206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424391418 meters 0.014693535309672266 Centerline is valid? [True, True] Translation: X:171.12, Y:-5.07, Z:-3.73 [[ 9.96926098e-01 7.68757753e-02 1.51152306e-02 1.71118425e+02] [-7.68655841e-02 9.97040675e-01 -1.25489691e-03 -5.06948132e+00] [-1.51669709e-02 8.91984551e-05 9.99884971e-01 -3.72969249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48439141799997 meters 0.014974864354991761 Centerline is valid? [True, True] Translation: X:171.18, Y:-5.08, Z:-3.73 [[ 9.97110956e-01 7.46290096e-02 1.41510450e-02 1.71176206e+02] [-7.46198650e-02 9.97211361e-01 -1.17385349e-03 -5.07915370e+00] [-1.41991864e-02 1.14513107e-04 9.99899180e-01 -3.73223451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54439141799998 meters 0.016065294888856548 Centerline is valid? [True, True] Translation: X:171.23, Y:-5.09, Z:-3.73 [[ 9.97471705e-01 6.97510793e-02 1.36008747e-02 1.71234382e+02] [-6.97421920e-02 9.97564412e-01 -1.12722315e-03 -5.09328221e+00] [-1.36463736e-02 1.75818380e-04 9.99906868e-01 -3.73437105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60439141799998 meters 0.01742929565000535 Centerline is valid? [True, True] Translation: X:171.29, Y:-5.10, Z:-3.74 [[ 9.97700879e-01 6.62992760e-02 1.40485946e-02 1.71291184e+02] [-6.62894661e-02 9.97799756e-01 -1.16330569e-03 -5.10397773e+00] [-1.40948106e-02 2.29357276e-04 9.99900637e-01 -3.73567231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66439141799998 meters 0.01934436484017844 Centerline is valid? [True, True] Translation: X:171.35, Y:-5.12, Z:-3.74 [[ 9.97981914e-01 6.17415775e-02 1.48349925e-02 1.71349492e+02] [-6.17301605e-02 9.98092121e-01 -1.22671487e-03 -5.11554293e+00] [-1.48824284e-02 3.08472791e-04 9.99889203e-01 -3.73691341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72439141799998 meters 0.021495651880859924 Centerline is valid? [True, True] Translation: X:171.41, Y:-5.13, Z:-3.74 [[ 9.98140373e-01 5.85718606e-02 1.68858912e-02 1.71407786e+02] [-5.85566409e-02 9.98283113e-01 -1.39477741e-03 -5.12603880e+00] [-1.69385948e-02 4.03402574e-04 9.99856450e-01 -3.73731036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78439141799998 meters 0.023071851346456406 Centerline is valid? [True, True] Translation: X:171.47, Y:-5.13, Z:-3.74 [[ 9.98244135e-01 5.66099399e-02 1.74345024e-02 1.71465788e+02] [-5.65934399e-02 9.98396270e-01 -1.43872335e-03 -5.13420157e+00] [-1.74879882e-02 4.49518685e-04 9.99846972e-01 -3.73843593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844391418 meters 0.025656620890459357 Centerline is valid? [True, True] Translation: X:171.52, Y:-5.14, Z:-3.74 [[ 9.98452537e-01 5.28019853e-02 1.74493812e-02 1.71524058e+02] [-5.27849001e-02 9.98604869e-01 -1.43856930e-03 -5.14433117e+00] [-1.75009963e-02 5.15279326e-04 9.99846713e-01 -3.73996963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904391418 meters 0.028688375294799447 Centerline is valid? [True, True] Translation: X:171.58, Y:-5.15, Z:-3.74 [[ 9.98649525e-01 4.87344788e-02 1.80021192e-02 1.71582911e+02] [-4.87156537e-02 9.98811587e-01 -1.48302713e-03 -5.15485135e+00] [-1.80529998e-02 6.04039331e-04 9.99836849e-01 -3.74130846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964391418 meters 0.02816804480413225 Centerline is valid? [True, True] Translation: X:171.64, Y:-5.16, Z:-3.74 [[ 9.98932231e-01 4.24988591e-02 1.81175029e-02 1.71642641e+02] [-4.24787806e-02 9.99096255e-01 -1.49181224e-03 -5.16031630e+00] [-1.81645296e-02 7.20609896e-04 9.99834752e-01 -3.74226884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024391418 meters 0.03228921086561705 Centerline is valid? [True, True] Translation: X:171.70, Y:-5.17, Z:-3.74 [[ 9.99142156e-01 3.74501395e-02 1.76759510e-02 1.71701837e+02] [-3.74302466e-02 9.99298183e-01 -1.45503145e-03 -5.17042764e+00] [-1.77180369e-02 7.92168052e-04 9.99842709e-01 -3.74363613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084391418 meters 0.034307604141270404 Centerline is valid? [True, True] Translation: X:171.76, Y:-5.18, Z:-3.75 [[ 9.99223654e-01 3.53104954e-02 1.74716377e-02 1.71761725e+02] [-3.52907334e-02 9.99376053e-01 -1.43821298e-03 -5.17738254e+00] [-1.75115203e-02 8.20509527e-04 9.99846325e-01 -3.74563622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144391418 meters 0.03092757348937742 Centerline is valid? [True, True] Translation: X:171.82, Y:-5.18, Z:-3.75 [[ 9.99272439e-01 3.40389200e-02 1.72030633e-02 1.71823415e+02] [-3.40195763e-02 9.99420164e-01 -1.41590980e-03 -5.17615537e+00] [-1.72412844e-02 8.29638712e-04 9.99851014e-01 -3.74633295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20439141799997 meters 0.03453843857153025 Centerline is valid? [True, True] Translation: X:171.88, Y:-5.18, Z:-3.75 [[ 9.99277695e-01 3.37586258e-02 1.74483245e-02 1.71882985e+02] [-3.37386696e-02 9.99429656e-01 -1.43691592e-03 -5.18374466e+00] [-1.74868813e-02 8.47194769e-04 9.99846734e-01 -3.74798617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26439141799997 meters 0.035438674632984404 Centerline is valid? [True, True] Translation: X:171.94, Y:-5.19, Z:-3.75 [[ 9.99287042e-01 3.35719759e-02 1.72722589e-02 1.71944797e+02] [-3.35523882e-02 9.99435948e-01 -1.42267320e-03 -5.18617616e+00] [-1.73102783e-02 8.42133360e-04 9.99849811e-01 -3.74895459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32439141799998 meters 0.030855181178354084 Centerline is valid? [True, True] Translation: X:172.01, Y:-5.18, Z:-3.75 [[ 9.99264085e-01 3.37137722e-02 1.82939869e-02 1.72005589e+02] [-3.36918057e-02 9.99431133e-01 -1.50771784e-03 -5.18256445e+00] [-1.83344109e-02 8.90250837e-04 9.99831514e-01 -3.74920409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38439141799998 meters 0.034491976531174286 Centerline is valid? [True, True] Translation: X:172.07, Y:-5.19, Z:-3.75 [[ 9.99234716e-01 3.40365379e-02 1.92742371e-02 1.72065514e+02] [-3.40122148e-02 9.99420155e-01 -1.58845189e-03 -5.18816146e+00] [-1.93171264e-02 9.31676776e-04 9.99812973e-01 -3.74980261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44439141799998 meters 0.032251214715565885 Centerline is valid? [True, True] Translation: X:172.13, Y:-5.19, Z:-3.75 [[ 9.99245299e-01 3.34516888e-02 1.97437601e-02 1.72127288e+02] [-3.34260450e-02 9.99439868e-01 -1.62750985e-03 -5.18715343e+00] [-1.97871439e-02 9.66325750e-04 9.99803748e-01 -3.75023918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50439141799998 meters 0.0350728743726127 Centerline is valid? [True, True] Translation: X:172.19, Y:-5.19, Z:-3.75 [[ 9.99320944e-01 3.17529635e-02 1.86922475e-02 1.72188409e+02] [-3.17296825e-02 9.99495299e-01 -1.54082504e-03 -5.19262279e+00] [-1.87317392e-02 9.46679654e-04 9.99824097e-01 -3.75305088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56439141799999 meters 0.0342421238661015 Centerline is valid? [True, True] Translation: X:172.25, Y:-5.19, Z:-3.76 [[ 9.99419447e-01 2.96067790e-02 1.68584854e-02 1.72250133e+02] [-2.95874557e-02 9.99561223e-01 -1.39453133e-03 -5.19213279e+00] [-1.68923758e-02 8.94922040e-04 9.99856913e-01 -3.75582517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624391418 meters 0.035299207951660055 Centerline is valid? [True, True] Translation: X:172.31, Y:-5.19, Z:-3.76 [[ 9.99430993e-01 2.93942999e-02 1.65428251e-02 1.72311291e+02] [-2.93756537e-02 9.99567505e-01 -1.36907158e-03 -5.19487775e+00] [-1.65759133e-02 8.82336270e-04 9.99862221e-01 -3.75717582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684391418 meters 0.03513935587357777 Centerline is valid? [True, True] Translation: X:172.37, Y:-5.20, Z:-3.76 [[ 9.99365290e-01 3.09936579e-02 1.75616411e-02 1.72372943e+02] [-3.09728769e-02 9.99519168e-01 -1.45413869e-03 -5.19527431e+00] [-1.75982659e-02 9.09281183e-04 9.99844725e-01 -3.75748438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744391418 meters 0.03455374486734269 Centerline is valid? [True, True] Translation: X:172.43, Y:-5.19, Z:-3.76 [[ 9.99257959e-01 3.37690478e-02 1.85251690e-02 1.72434328e+02] [-3.37463835e-02 9.99429250e-01 -1.53477092e-03 -5.19498269e+00] [-1.85664236e-02 9.08474604e-04 9.99827216e-01 -3.75779998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804391418 meters 0.03355650092222616 Centerline is valid? [True, True] Translation: X:172.49, Y:-5.19, Z:-3.76 [[ 9.99143284e-01 3.69700443e-02 1.85987606e-02 1.72494909e+02] [-3.69477447e-02 9.99316010e-01 -1.54129375e-03 -5.19381529e+00] [-1.86430209e-02 8.52791045e-04 9.99825840e-01 -3.75899500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864391418 meters 0.03277164161959219 Centerline is valid? [True, True] Translation: X:172.56, Y:-5.19, Z:-3.76 [[ 9.99043993e-01 3.97027278e-02 1.82973891e-02 1.72555193e+02] [-3.96815999e-02 9.99211224e-01 -1.51646126e-03 -5.19182875e+00] [-1.83431642e-02 7.88941835e-04 9.99831439e-01 -3.76080062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924391418 meters 0.029512457207183124 Centerline is valid? [True, True] Translation: X:172.62, Y:-5.19, Z:-3.76 [[ 9.99060789e-01 3.97438299e-02 1.72617742e-02 1.72615218e+02] [-3.97250430e-02 9.99209626e-01 -1.43001465e-03 -5.18774740e+00] [-1.73049652e-02 7.42946839e-04 9.99849982e-01 -3.76223480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98439141799997 meters 0.027178896864672064 Centerline is valid? [True, True] Translation: X:172.67, Y:-5.19, Z:-3.76 [[ 9.99090219e-01 3.92655291e-02 1.66419086e-02 1.72673947e+02] [-3.92480078e-02 9.99228550e-01 -1.37826975e-03 -5.18665687e+00] [-1.66831887e-02 7.23854069e-04 9.99860564e-01 -3.76370873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04439141799998 meters 0.02836087396204301 Centerline is valid? [True, True] Translation: X:172.73, Y:-5.19, Z:-3.77 [[ 9.99100248e-01 3.95700991e-02 1.52611027e-02 1.72731828e+02] [-3.95554156e-02 9.99216580e-01 -1.26292050e-03 -5.18815687e+00] [-1.52991208e-02 6.58124927e-04 9.99882745e-01 -3.76542506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10439141799998 meters 0.027507569521793104 Centerline is valid? [True, True] Translation: X:172.79, Y:-5.19, Z:-3.77 [[ 9.99050847e-01 4.08879193e-02 1.50194491e-02 1.72791214e+02] [-4.08738729e-02 9.99163543e-01 -1.24112984e-03 -5.18917383e+00] [-1.50576332e-02 6.26048765e-04 9.99886431e-01 -3.76678414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16439141799998 meters 0.03371459285111105 Centerline is valid? [True, True] Translation: X:172.85, Y:-5.20, Z:-3.77 [[ 9.98920557e-01 4.40800021e-02 1.46517375e-02 1.72849871e+02] [-4.40669927e-02 9.99027846e-01 -1.20973018e-03 -5.19850602e+00] [-1.46908186e-02 5.62766335e-04 9.99891926e-01 -3.76970184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22439141799998 meters 0.0247510275645587 Centerline is valid? [True, True] Translation: X:172.91, Y:-5.19, Z:-3.77 [[ 9.98683112e-01 4.91456527e-02 1.47223161e-02 1.72911227e+02] [-4.91330781e-02 9.98791502e-01 -1.21481854e-03 -5.18601648e+00] [-1.47642272e-02 4.89866054e-04 9.99890883e-01 -3.76791838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28439141799998 meters 0.020945064243974475 Centerline is valid? [True, True] Translation: X:172.97, Y:-5.18, Z:-3.77 [[ 9.98485235e-01 5.31076351e-02 1.43810742e-02 1.72970970e+02] [-5.30960464e-02 9.98588705e-01 -1.18671575e-03 -5.18222366e+00] [-1.44238019e-02 4.21339978e-04 9.99895883e-01 -3.76773888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344391418 meters 0.01890089010338984 Centerline is valid? [True, True] Translation: X:173.03, Y:-5.18, Z:-3.77 [[ 9.98222319e-01 5.82410554e-02 1.26562882e-02 1.73029531e+02] [-5.82324977e-02 9.98302502e-01 -1.04394896e-03 -5.18049782e+00] [-1.26956049e-02 3.05085877e-04 9.99919361e-01 -3.76884251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404391418 meters 0.018261047953388017 Centerline is valid? [True, True] Translation: X:173.09, Y:-5.18, Z:-3.77 [[ 9.98077011e-01 6.08793654e-02 1.16611326e-02 1.73088524e+02] [-6.08722904e-02 9.98145100e-01 -9.61022757e-04 -5.18269133e+00] [-1.16980088e-02 2.49334870e-04 9.99931545e-01 -3.77056499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464391418 meters 0.017214820528023696 Centerline is valid? [True, True] Translation: X:173.15, Y:-5.18, Z:-3.77 [[ 9.97901076e-01 6.37696322e-02 1.12639060e-02 1.73147273e+02] [-6.37632246e-02 9.97964624e-01 -9.27440829e-04 -5.18416564e+00] [-1.13001223e-02 2.07271231e-04 9.99936130e-01 -3.77143024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524391418 meters 0.01726589901132875 Centerline is valid? [True, True] Translation: X:173.21, Y:-5.19, Z:-3.77 [[ 9.97762331e-01 6.59298532e-02 1.11168873e-02 1.73205843e+02] [-6.59237553e-02 9.97824244e-01 -9.14481287e-04 -5.18721357e+00] [-1.11529913e-02 1.79568021e-04 9.99937787e-01 -3.77244679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584391418 meters 0.016628556455400345 Centerline is valid? [True, True] Translation: X:173.26, Y:-5.19, Z:-3.77 [[ 9.97783771e-01 6.55978392e-02 1.11566420e-02 1.73262788e+02] [-6.55916800e-02 9.97846125e-01 -9.17471228e-04 -5.19310341e+00] [-1.11927961e-02 1.83655010e-04 9.99937342e-01 -3.77370859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644391418 meters 0.017006299557569264 Centerline is valid? [True, True] Translation: X:173.32, Y:-5.20, Z:-3.77 [[ 9.97940149e-01 6.32467771e-02 1.07379862e-02 1.73321227e+02] [-6.32409572e-02 9.97997898e-01 -8.81013349e-04 -5.20082877e+00] [-1.07722089e-02 2.00118066e-04 9.99941958e-01 -3.77485580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70439141799997 meters 0.01749705793435943 Centerline is valid? [True, True] Translation: X:173.38, Y:-5.21, Z:-3.78 [[ 9.98123875e-01 6.04202468e-02 9.90571850e-03 1.73379636e+02] [-6.04151613e-02 9.98173005e-01 -8.12098481e-04 -5.20860409e+00] [-9.93668800e-03 2.12119302e-04 9.99950607e-01 -3.77632013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76439141799997 meters 0.02049308962883711 Centerline is valid? [True, True] Translation: X:173.44, Y:-5.22, Z:-3.78 [[ 9.98463134e-01 5.45180795e-02 9.95733327e-03 1.73437402e+02] [-5.45126583e-02 9.98512747e-01 -8.15245552e-04 -5.22179607e+00] [-9.98696981e-03 2.71191922e-04 9.99950092e-01 -3.77884435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82439141799998 meters 0.02211505681963182 Centerline is valid? [True, True] Translation: X:173.50, Y:-5.23, Z:-3.78 [[ 9.98685202e-01 5.02988802e-02 9.89389240e-03 1.73496338e+02] [-5.02933292e-02 9.98734162e-01 -8.09219493e-04 -5.23157070e+00] [-9.92207116e-03 3.10558746e-04 9.99950727e-01 -3.78007137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88439141799998 meters 0.025579384507516817 Centerline is valid? [True, True] Translation: X:173.56, Y:-5.24, Z:-3.78 [[ 9.98978693e-01 4.41757938e-02 9.49051249e-03 1.73555480e+02] [-4.41704158e-02 9.99023710e-01 -7.75628218e-04 -5.24454398e+00] [-9.51551098e-03 3.55636181e-04 9.99954663e-01 -3.78251912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94439141799998 meters 0.027936956497052693 Centerline is valid? [True, True] Translation: X:173.61, Y:-5.25, Z:-3.78 [[ 9.99152420e-01 4.00284710e-02 9.60019885e-03 1.73614393e+02] [-4.00227763e-02 9.99198460e-01 -7.84640393e-04 -5.25456117e+00] [-9.62391186e-03 3.99748735e-04 9.99953609e-01 -3.78407961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00439141799998 meters 0.03259039706691165 Centerline is valid? [True, True] Translation: X:173.67, Y:-5.27, Z:-3.78 [[ 9.99367579e-01 3.39657898e-02 1.05246001e-02 1.73672613e+02] [-3.39586176e-02 9.99422870e-01 -8.59471136e-04 -5.26812976e+00] [-1.05477187e-02 5.01526718e-04 9.99944245e-01 -3.78494307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06439141799999 meters 0.032458285288980065 Centerline is valid? [True, True] Translation: X:173.73, Y:-5.27, Z:-3.78 [[ 9.99486023e-01 2.97992983e-02 1.18191435e-02 1.73732594e+02] [-2.97899662e-02 9.99555715e-01 -9.64886455e-04 -5.27325732e+00] [-1.18426454e-02 6.12298639e-04 9.99929686e-01 -3.78471749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124391418 meters 0.03828946651516257 Centerline is valid? [True, True] Translation: X:173.79, Y:-5.29, Z:-3.79 [[ 9.99640166e-01 2.38283045e-02 1.23187005e-02 1.73791545e+02] [-2.38177178e-02 9.99715812e-01 -1.00541426e-03 -5.28630800e+00] [-1.23391570e-02 7.11649148e-04 9.99923616e-01 -3.78707211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184391418 meters 0.04671883490768341 Centerline is valid? [True, True] Translation: X:173.85, Y:-5.30, Z:-3.79 [[ 9.99726508e-01 2.01875191e-02 1.18056637e-02 1.73850403e+02] [-2.01775512e-02 9.99795949e-01 -9.62843184e-04 -5.30191321e+00] [-1.18226922e-02 7.24370469e-04 9.99929847e-01 -3.79073707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244391418 meters 0.04201370364159873 Centerline is valid? [True, True] Translation: X:173.91, Y:-5.30, Z:-3.79 [[ 9.99812404e-01 1.60503913e-02 1.08416775e-02 1.73911766e+02] [-1.60417379e-02 9.99870932e-01 -8.84652602e-04 -5.29930711e+00] [-1.08544772e-02 7.10567295e-04 9.99940836e-01 -3.79198569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304391418 meters 0.04217397966126185 Centerline is valid? [True, True] Translation: X:173.97, Y:-5.30, Z:-3.79 [[ 9.99839854e-01 1.43894620e-02 1.06400496e-02 1.73972663e+02] [-1.43810352e-02 9.99896211e-01 -8.68073771e-04 -5.30241980e+00] [-1.06514364e-02 7.14919825e-04 9.99943016e-01 -3.79342009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364391418 meters 0.0431988989613513 Centerline is valid? [True, True] Translation: X:174.03, Y:-5.31, Z:-3.79 [[ 9.99792797e-01 1.60978471e-02 1.24587989e-02 1.74032788e+02] [-1.60864211e-02 9.99870088e-01 -1.01678412e-03 -5.30653490e+00] [-1.24735484e-02 8.16155953e-04 9.99921869e-01 -3.79358131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424391418 meters 0.03846831698354814 Centerline is valid? [True, True] Translation: X:174.09, Y:-5.30, Z:-3.79 [[ 9.99623349e-01 2.27867167e-02 1.52946466e-02 1.74094679e+02] [-2.27702691e-02 9.99739944e-01 -1.24868634e-03 -5.29930721e+00] [-1.53191226e-02 8.99952802e-04 9.99882250e-01 -3.79197404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48439141799997 meters 0.03545083209361883 Centerline is valid? [True, True] Translation: X:174.16, Y:-5.30, Z:-3.79 [[ 9.99442978e-01 2.88937935e-02 1.66997573e-02 1.74155786e+02] [-2.88750303e-02 9.99582099e-01 -1.36364278e-03 -5.29562752e+00] [-1.67321793e-02 8.80677200e-04 9.99859619e-01 -3.79220880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54439141799998 meters 0.03288475781629957 Centerline is valid? [True, True] Translation: X:174.22, Y:-5.29, Z:-3.79 [[ 9.99235071e-01 3.50301073e-02 1.73828522e-02 1.74215416e+02] [-3.50106987e-02 9.99385929e-01 -1.41969096e-03 -5.29344125e+00] [-1.74219099e-02 8.10019194e-04 9.99847899e-01 -3.79360709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60439141799998 meters 0.030159538423437344 Centerline is valid? [True, True] Translation: X:174.28, Y:-5.29, Z:-3.79 [[ 9.99013398e-01 4.04398401e-02 1.83534708e-02 1.74275934e+02] [-4.04191220e-02 9.99181690e-01 -1.49853824e-03 -5.29176818e+00] [-1.83990526e-02 7.55228603e-04 9.99830438e-01 -3.79474959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66439141799998 meters 0.02494853618439745 Centerline is valid? [True, True] Translation: X:174.34, Y:-5.28, Z:-3.80 [[ 9.98699533e-01 4.74648277e-02 1.86100166e-02 1.74337113e+02] [-4.74447505e-02 9.98872709e-01 -1.51911653e-03 -5.28485053e+00] [-1.86611423e-02 6.34193378e-04 9.99825665e-01 -3.79677997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72439141799998 meters 0.022716363043022478 Centerline is valid? [True, True] Translation: X:174.40, Y:-5.28, Z:-3.80 [[ 9.98451597e-01 5.27303971e-02 1.77176000e-02 1.74396028e+02] [-5.27130277e-02 9.98608655e-01 -1.44625776e-03 -5.28385386e+00] [-1.77692104e-02 5.10070037e-04 9.99841985e-01 -3.79944186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78439141799998 meters 0.017115046971940124 Centerline is valid? [True, True] Translation: X:174.46, Y:-5.28, Z:-3.80 [[ 9.97958438e-01 6.17276698e-02 1.63905868e-02 1.74456754e+02] [-6.17140345e-02 9.98092977e-01 -1.33688245e-03 -5.27599942e+00] [-1.64418522e-02 3.22623884e-04 9.99864772e-01 -3.80245273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844391418 meters 0.014706815842244555 Centerline is valid? [True, True] Translation: X:174.52, Y:-5.27, Z:-3.80 [[ 9.97337581e-01 7.09710517e-02 1.67588550e-02 1.74517377e+02] [-7.09581032e-02 9.97478360e-01 -1.36675341e-03 -5.27163568e+00] [-1.68135951e-02 1.73937976e-04 9.99858626e-01 -3.80351780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904391418 meters 0.013833802589596007 Centerline is valid? [True, True] Translation: X:174.58, Y:-5.27, Z:-3.80 [[ 9.96977012e-01 7.56188127e-02 1.78503079e-02 1.74576199e+02] [-7.56048847e-02 9.97136794e-01 -1.45478414e-03 -5.27163386e+00] [-1.79092079e-02 1.00815869e-04 9.99839612e-01 -3.80422499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964391418 meters 0.013488989305992318 Centerline is valid? [True, True] Translation: X:174.63, Y:-5.27, Z:-3.80 [[ 9.96716635e-01 7.85637895e-02 1.95877734e-02 1.74633984e+02] [-7.85476200e-02 9.96909087e-01 -1.59467948e-03 -5.27379393e+00] [-1.96525133e-02 5.08705840e-05 9.99806869e-01 -3.80457772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024391418 meters 0.013887803615424849 Centerline is valid? [True, True] Translation: X:174.69, Y:-5.28, Z:-3.81 [[ 9.97013477e-01 7.46323383e-02 1.98529563e-02 1.74690997e+02] [-7.46149882e-02 9.97211110e-01 -1.61427159e-03 -5.28296530e+00] [-1.99180655e-02 1.28122428e-04 9.99801607e-01 -3.80608108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084391418 meters 0.015079668181672223 Centerline is valid? [True, True] Translation: X:174.75, Y:-5.29, Z:-3.81 [[ 9.97430207e-01 6.88074335e-02 1.99629557e-02 1.74749123e+02] [-6.87887633e-02 9.97629930e-01 -1.62123772e-03 -5.29390468e+00] [-2.00271953e-02 2.43844442e-04 9.99799406e-01 -3.80814167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144391418 meters 0.020151153716069767 Centerline is valid? [True, True] Translation: X:174.81, Y:-5.31, Z:-3.81 [[ 9.98163571e-01 5.74998587e-02 1.90591855e-02 1.74807031e+02] [-5.74808105e-02 9.98345414e-01 -1.54619278e-03 -5.31330514e+00] [-1.91165563e-02 4.47815873e-04 9.99817162e-01 -3.81180189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20439141799997 meters 0.022067626820222508 Centerline is valid? [True, True] Translation: X:174.87, Y:-5.32, Z:-3.81 [[ 9.98574637e-01 5.00755617e-02 1.84697563e-02 1.74866813e+02] [-5.00564085e-02 9.98745269e-01 -1.49814582e-03 -5.32365976e+00] [-1.85216022e-02 5.71480750e-04 9.99828297e-01 -3.81366181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26439141799997 meters 0.026152507897054564 Centerline is valid? [True, True] Translation: X:174.93, Y:-5.34, Z:-3.81 [[ 9.98987945e-01 4.10343687e-02 1.84192057e-02 1.74926438e+02] [-4.10137845e-02 9.99157464e-01 -1.49406743e-03 -5.33766693e+00] [-1.84649949e-02 7.37114019e-04 9.99829236e-01 -3.81477989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32439141799998 meters 0.027851156609550412 Centerline is valid? [True, True] Translation: X:174.99, Y:-5.35, Z:-3.82 [[ 9.99110417e-01 3.78411787e-02 1.86123444e-02 1.74985339e+02] [-3.78196059e-02 9.99283442e-01 -1.50980639e-03 -5.34595020e+00] [-1.86561404e-02 8.04551766e-04 9.99825635e-01 -3.81546909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38439141799998 meters 0.030234579680785037 Centerline is valid? [True, True] Translation: X:175.04, Y:-5.35, Z:-3.82 [[ 9.99171263e-01 3.63851888e-02 1.82456959e-02 1.75043443e+02] [-3.63642359e-02 9.99337508e-01 -1.47894700e-03 -5.35440823e+00] [-1.82874201e-02 8.14230548e-04 9.99832440e-01 -3.81667458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44439141799998 meters 0.030972019129217637 Centerline is valid? [True, True] Translation: X:175.10, Y:-5.36, Z:-3.82 [[ 9.99187136e-01 3.63107930e-02 1.75097994e-02 1.75101760e+02] [-3.62915011e-02 9.99340240e-01 -1.41837989e-03 -5.35932194e+00] [-1.75497496e-02 7.81770035e-04 9.99845686e-01 -3.81876027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50439141799998 meters 0.029684682071631902 Centerline is valid? [True, True] Translation: X:175.16, Y:-5.36, Z:-3.82 [[ 9.99187255e-01 3.70699084e-02 1.58319670e-02 1.75160479e+02] [-3.70542489e-02 9.99312434e-01 -1.28140087e-03 -5.36118163e+00] [-1.58685829e-02 6.93717770e-04 9.99873845e-01 -3.82132397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56439141799999 meters 0.0296659144546125 Centerline is valid? [True, True] Translation: X:175.22, Y:-5.36, Z:-3.82 [[ 9.99165050e-01 3.80395046e-02 1.49063575e-02 1.75218790e+02] [-3.80257468e-02 9.99276033e-01 -1.20539516e-03 -5.36461133e+00] [-1.49414184e-02 6.37563343e-04 9.99888168e-01 -3.82320426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624391418 meters 0.029316437292860095 Centerline is valid? [True, True] Translation: X:175.28, Y:-5.37, Z:-3.83 [[ 9.99141626e-01 3.89656789e-02 1.40601229e-02 1.75277684e+02] [-3.89535447e-02 9.99240377e-01 -1.13595083e-03 -5.36817474e+00] [-1.40937056e-02 5.87284130e-04 9.99900506e-01 -3.82529711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684391418 meters 0.028037946603698426 Centerline is valid? [True, True] Translation: X:175.34, Y:-5.37, Z:-3.83 [[ 9.99065577e-01 4.12117626e-02 1.30216892e-02 1.75337107e+02] [-4.12015539e-02 9.99150302e-01 -1.05139452e-03 -5.36805431e+00] [-1.30539545e-02 5.13898245e-04 9.99914661e-01 -3.82701082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744391418 meters 0.02444182023201465 Centerline is valid? [True, True] Translation: X:175.40, Y:-5.37, Z:-3.83 [[ 9.98924863e-01 4.45809577e-02 1.27144139e-02 1.75396492e+02] [-4.45715164e-02 9.99005670e-01 -1.02510120e-03 -5.36538301e+00] [-1.27474716e-02 4.57298368e-04 9.99918643e-01 -3.82732906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804391418 meters 0.021330657502973277 Centerline is valid? [True, True] Translation: X:175.46, Y:-5.36, Z:-3.83 [[ 9.98512849e-01 5.26427544e-02 1.41714663e-02 1.75457869e+02] [-5.26318637e-02 9.98613332e-01 -1.14061506e-03 -5.36079609e+00] [-1.42118603e-02 3.93048112e-04 9.99898929e-01 -3.82746318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864391418 meters 0.017917440799878778 Centerline is valid? [True, True] Translation: X:175.52, Y:-5.35, Z:-3.83 [[ 9.97925969e-01 6.22958351e-02 1.62169289e-02 1.75518898e+02] [-6.22828472e-02 9.98057685e-01 -1.30519673e-03 -5.35453311e+00] [-1.62667389e-02 2.92453206e-04 9.99867645e-01 -3.82629451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92439141799997 meters 0.01681106612735123 Centerline is valid? [True, True] Translation: X:175.58, Y:-5.35, Z:-3.83 [[ 9.97563343e-01 6.77325475e-02 1.67236223e-02 1.75578065e+02] [-6.77194993e-02 9.97703492e-01 -1.34594685e-03 -5.35321019e+00] [-1.67763808e-02 2.10151913e-04 9.99859245e-01 -3.82724570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98439141799997 meters 0.015936739157097077 Centerline is valid? [True, True] Translation: X:175.64, Y:-5.35, Z:-3.83 [[ 9.97199526e-01 7.30760460e-02 1.59058456e-02 1.75635677e+02] [-7.30649400e-02 9.97326365e-01 -1.27901053e-03 -5.35338939e+00] [-1.59567842e-02 1.13269041e-04 9.99872676e-01 -3.83050349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04439141799998 meters 0.01568518333508261 Centerline is valid? [True, True] Translation: X:175.69, Y:-5.36, Z:-3.83 [[ 9.97170330e-01 7.38225118e-02 1.41975017e-02 1.75693936e+02] [-7.38137590e-02 9.97271392e-01 -1.14024840e-03 -5.35709757e+00] [-1.42429383e-02 8.90509056e-05 9.99898560e-01 -3.83327797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10439141799998 meters 0.015995113561761826 Centerline is valid? [True, True] Translation: X:175.75, Y:-5.36, Z:-3.84 [[ 9.97336503e-01 7.19220167e-02 1.21294431e-02 1.75751897e+02] [-7.19154938e-02 9.97410253e-01 -9.73653713e-04 -5.36344293e+00] [-1.21680580e-02 9.87655027e-05 9.99925962e-01 -3.83643059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16439141799998 meters 0.016434248663278594 Centerline is valid? [True, True] Translation: X:175.81, Y:-5.37, Z:-3.84 [[ 9.97563792e-01 6.87369583e-02 1.19042312e-02 1.75809413e+02] [-6.87304624e-02 9.97634809e-01 -9.54420670e-04 -5.37211540e+00] [-1.19416794e-02 1.33912185e-04 9.99928687e-01 -3.83796188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22439141799998 meters 0.017194395949206787 Centerline is valid? [True, True] Translation: X:175.87, Y:-5.38, Z:-3.84 [[ 9.97695502e-01 6.66058382e-02 1.29362606e-02 1.75868340e+02] [-6.65980090e-02 9.97779351e-01 -1.03553339e-03 -5.37863447e+00] [-1.29765063e-02 1.71617808e-04 9.99915787e-01 -3.83827772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28439141799998 meters 0.017529851331324082 Centerline is valid? [True, True] Translation: X:175.93, Y:-5.38, Z:-3.84 [[ 9.97829924e-01 6.41721411e-02 1.47437558e-02 1.75927018e+02] [-6.41617253e-02 9.97938817e-01 -1.17888303e-03 -5.38453321e+00] [-1.47890177e-02 2.30339960e-04 9.99890610e-01 -3.83773740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344391418 meters 0.01893433394448032 Centerline is valid? [True, True] Translation: X:175.98, Y:-5.39, Z:-3.84 [[ 9.98050174e-01 6.04127253e-02 1.56892852e-02 1.75984773e+02] [-6.04004856e-02 9.98173437e-01 -1.25324361e-03 -5.39310980e+00] [-1.57363396e-02 3.03159557e-04 9.99876130e-01 -3.83874949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404391418 meters 0.01983629421198237 Centerline is valid? [True, True] Translation: X:176.04, Y:-5.40, Z:-3.84 [[ 9.98275135e-01 5.65116390e-02 1.59119476e-02 1.76042554e+02] [-5.64985747e-02 9.98401872e-01 -1.26973284e-03 -5.40057262e+00] [-1.59582730e-02 3.68540364e-04 9.99872591e-01 -3.84010247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464391418 meters 0.02114654526258749 Centerline is valid? [True, True] Translation: X:176.10, Y:-5.41, Z:-3.84 [[ 9.98511823e-01 5.24310982e-02 1.50039685e-02 1.76101790e+02] [-5.24190633e-02 9.98624461e-01 -1.19453482e-03 -5.40940996e+00] [-1.50459608e-02 4.06263167e-04 9.99886721e-01 -3.84270279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524391418 meters 0.022952150789067944 Centerline is valid? [True, True] Translation: X:176.16, Y:-5.42, Z:-3.85 [[ 9.98699655e-01 4.90524968e-02 1.38871249e-02 1.76161012e+02] [-4.90418676e-02 9.98796112e-01 -1.10511490e-03 -5.41886922e+00] [-1.39246150e-02 4.22627326e-04 9.99902959e-01 -3.84560313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584391418 meters 0.023128047708775135 Centerline is valid? [True, True] Translation: X:176.22, Y:-5.42, Z:-3.85 [[ 9.98736973e-01 4.85477113e-02 1.29451926e-02 1.76219046e+02] [-4.85384317e-02 9.98820784e-01 -1.03024373e-03 -5.42405848e+00] [-1.29799434e-02 4.00603155e-04 9.99915677e-01 -3.84759183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644391418 meters 0.02164641105032839 Centerline is valid? [True, True] Translation: X:176.28, Y:-5.43, Z:-3.85 [[ 9.98535233e-01 5.26550315e-02 1.24433446e-02 1.76278320e+02] [-5.26467955e-02 9.98612706e-01 -9.88751430e-04 -5.42586433e+00] [-1.24781448e-02 3.32200919e-04 9.99922090e-01 -3.84945017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70439141799997 meters 0.019019920380837812 Centerline is valid? [True, True] Translation: X:176.34, Y:-5.42, Z:-3.85 [[ 9.98220752e-01 5.83503109e-02 1.22707302e-02 1.76338802e+02] [-5.83427451e-02 9.98296136e-01 -9.73942902e-04 -5.42491130e+00] [-1.23066524e-02 2.56301931e-04 9.99924237e-01 -3.85024419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76439141799997 meters 0.016167894878090505 Centerline is valid? [True, True] Translation: X:176.40, Y:-5.42, Z:-3.85 [[ 9.97593415e-01 6.83075846e-02 1.18933972e-02 1.76398874e+02] [-6.83011842e-02 9.97664301e-01 -9.43968550e-04 -5.41996953e+00] [-1.19300980e-02 1.29363694e-04 9.99928825e-01 -3.85024856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82439141799998 meters 0.015156252289301448 Centerline is valid? [True, True] Translation: X:176.46, Y:-5.42, Z:-3.85 [[ 9.97184862e-01 7.40662275e-02 1.16852604e-02 1.76458303e+02] [-7.40604368e-02 9.97253323e-01 -9.28094258e-04 -5.41980885e+00] [-1.17219052e-02 6.00660546e-05 9.99931294e-01 -3.85166639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88439141799998 meters 0.014980569287940197 Centerline is valid? [True, True] Translation: X:176.52, Y:-5.42, Z:-3.85 [[ 9.96828711e-01 7.86826066e-02 1.18982414e-02 1.76517396e+02] [-7.86769367e-02 9.96899718e-01 -9.44584482e-04 -5.42190873e+00] [-1.19356759e-02 5.47174446e-06 9.99928767e-01 -3.85306570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94439141799998 meters 0.014973530913625308 Centerline is valid? [True, True] Translation: X:176.57, Y:-5.43, Z:-3.86 [[ 9.96774873e-01 7.93217340e-02 1.21620344e-02 1.76574279e+02] [-7.93159186e-02 9.96849067e-01 -9.60522958e-04 -5.42707361e+00] [-1.21999030e-02 -7.21777679e-06 9.99925578e-01 -3.85538085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00439141799998 meters 0.01506767142768417 Centerline is valid? [True, True] Translation: X:176.63, Y:-5.44, Z:-3.86 [[ 9.96917189e-01 7.75341194e-02 1.20240745e-02 1.76632137e+02] [-7.75283275e-02 9.96989699e-01 -9.47763614e-04 -5.43521444e+00] [-1.20613624e-02 1.26354520e-05 9.99927259e-01 -3.85778256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06439141799999 meters 0.01524993715494861 Centerline is valid? [True, True] Translation: X:176.69, Y:-5.45, Z:-3.86 [[ 9.97118344e-01 7.47797746e-02 1.27668582e-02 1.76689241e+02] [-7.47730400e-02 9.97200072e-01 -1.00468787e-03 -5.44516235e+00] [-1.28062422e-02 4.71759024e-05 9.99917996e-01 -3.85851348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124391418 meters 0.015398502948151373 Centerline is valid? [True, True] Translation: X:176.75, Y:-5.46, Z:-3.86 [[ 9.97320861e-01 7.16818639e-02 1.45880016e-02 1.76746292e+02] [-7.16727694e-02 9.97427542e-01 -1.14595523e-03 -5.45570716e+00] [-1.46326188e-02 9.73225785e-05 9.99892933e-01 -3.85824233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184391418 meters 0.015672656065362615 Centerline is valid? [True, True] Translation: X:176.80, Y:-5.47, Z:-3.86 [[ 9.97482339e-01 6.91987440e-02 1.55086087e-02 1.76804400e+02] [-6.91882010e-02 9.97602884e-01 -1.21597203e-03 -5.46517299e+00] [-1.55555766e-02 1.39897884e-04 9.99878995e-01 -3.85931601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244391418 meters 0.016487053115118982 Centerline is valid? [True, True] Translation: X:176.86, Y:-5.48, Z:-3.86 [[ 9.97732422e-01 6.53420817e-02 1.61377399e-02 1.76862619e+02] [-6.53301833e-02 9.97862901e-01 -1.26393911e-03 -5.47734808e+00] [-1.61858403e-02 2.06791522e-04 9.99868979e-01 -3.86068176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304391418 meters 0.01766063037780245 Centerline is valid? [True, True] Translation: X:176.92, Y:-5.49, Z:-3.86 [[ 9.97958436e-01 6.17717373e-02 1.62238516e-02 1.76919845e+02] [-6.17592596e-02 9.98090268e-01 -1.26947375e-03 -5.48918204e+00] [-1.62712859e-02 2.64908975e-04 9.99867579e-01 -3.86282805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364391418 meters 0.019913225036399026 Centerline is valid? [True, True] Translation: X:176.98, Y:-5.50, Z:-3.86 [[ 9.98309373e-01 5.60126270e-02 1.55235927e-02 1.76978596e+02] [-5.60005355e-02 9.98430002e-01 -1.21285347e-03 -5.50376113e+00] [-1.55671558e-02 3.41473486e-04 9.99878766e-01 -3.86438811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42439141799997 meters 0.021289944203371765 Centerline is valid? [True, True] Translation: X:177.04, Y:-5.52, Z:-3.87 [[ 9.98534814e-01 5.21833881e-02 1.43219662e-02 1.77037271e+02] [-5.21727095e-02 9.98637450e-01 -1.11848012e-03 -5.51538531e+00] [-1.43608179e-02 3.69625553e-04 9.99896810e-01 -3.86645402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48439141799997 meters 0.021352345211052743 Centerline is valid? [True, True] Translation: X:177.09, Y:-5.52, Z:-3.87 [[ 9.98475035e-01 5.34697905e-02 1.37326828e-02 1.77094697e+02] [-5.34600947e-02 9.98569411e-01 -1.07242848e-03 -5.52282068e+00] [-1.37703795e-02 3.36642541e-04 9.99905127e-01 -3.86823387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54439141799998 meters 0.02000417282964498 Centerline is valid? [True, True] Translation: X:177.15, Y:-5.53, Z:-3.87 [[ 9.98319231e-01 5.63458863e-02 1.35593069e-02 1.77153201e+02] [-5.63367187e-02 9.98411266e-01 -1.05743268e-03 -5.52597425e+00] [-1.35973468e-02 2.91768515e-04 9.99907509e-01 -3.86932023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60439141799998 meters 0.018132313167197295 Centerline is valid? [True, True] Translation: X:177.21, Y:-5.53, Z:-3.87 [[ 9.97977786e-01 6.21896086e-02 1.31450163e-02 1.77211722e+02] [-6.21815123e-02 9.98064332e-01 -1.02412781e-03 -5.52813757e+00] [-1.31832620e-02 2.04679814e-04 9.99913076e-01 -3.87126012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66439141799998 meters 0.016834005285462517 Centerline is valid? [True, True] Translation: X:177.27, Y:-5.53, Z:-3.87 [[ 9.97782305e-01 6.52908455e-02 1.29451347e-02 1.77270702e+02] [-6.52832667e-02 9.97866263e-01 -1.00761621e-03 -5.53035783e+00] [-1.29833013e-02 1.60280943e-04 9.99915701e-01 -3.87146932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72439141799998 meters 0.016360838306036858 Centerline is valid? [True, True] Translation: X:177.33, Y:-5.53, Z:-3.87 [[ 9.97589909e-01 6.81544920e-02 1.30130394e-02 1.77329438e+02] [-6.81470911e-02 9.97674772e-01 -1.01182152e-03 -5.53496810e+00] [-1.30517413e-02 1.22582160e-04 9.99914815e-01 -3.87222873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78439141799998 meters 0.016211259813260565 Centerline is valid? [True, True] Translation: X:177.39, Y:-5.54, Z:-3.87 [[ 9.97566178e-01 6.86040123e-02 1.24583009e-02 1.77387218e+02] [-6.85972710e-02 9.97643963e-01 -9.68125366e-04 -5.54182719e+00] [-1.24953660e-02 1.11163679e-04 9.99921924e-01 -3.87372617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844391418 meters 0.01660736983244906 Centerline is valid? [True, True] Translation: X:177.45, Y:-5.55, Z:-3.88 [[ 9.97703782e-01 6.65422842e-02 1.26209583e-02 1.77445519e+02] [-6.65352252e-02 9.97783597e-01 -9.78841770e-04 -5.55005807e+00] [-1.26581195e-02 1.36855833e-04 9.99919873e-01 -3.87543963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904391418 meters 0.018675823610194126 Centerline is valid? [True, True] Translation: X:177.50, Y:-5.56, Z:-3.88 [[ 9.98100562e-01 6.05014836e-02 1.16120235e-02 1.77502843e+02] [-6.04951084e-02 9.98168088e-01 -8.99803754e-04 -5.56221776e+00] [-1.16451908e-02 1.95624010e-04 9.99932173e-01 -3.87803634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964391418 meters 0.022162112720528468 Centerline is valid? [True, True] Translation: X:177.56, Y:-5.58, Z:-3.88 [[ 9.98543811e-01 5.29297755e-02 1.04257829e-02 1.77560539e+02] [-5.29242327e-02 9.98598205e-01 -8.07013059e-04 -5.57573975e+00] [-1.04538831e-02 2.54061333e-04 9.99945324e-01 -3.88002196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024391418 meters 0.02501390669444513 Centerline is valid? [True, True] Translation: X:177.62, Y:-5.59, Z:-3.88 [[ 9.98814636e-01 4.74494368e-02 1.08569897e-02 1.77619037e+02] [-4.74431071e-02 9.98873589e-01 -8.39962460e-04 -5.58623492e+00] [-1.08846160e-02 3.23877472e-04 9.99940708e-01 -3.88022608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084391418 meters 0.03153566918830707 Centerline is valid? [True, True] Translation: X:177.68, Y:-5.60, Z:-3.88 [[ 9.99214888e-01 3.80544258e-02 1.10212516e-02 1.77677737e+02] [-3.80473514e-02 9.99275575e-01 -8.50922856e-04 -5.60164904e+00] [-1.10456489e-02 4.30925353e-04 9.99938902e-01 -3.88085793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144391418 meters 0.039177005444379624 Centerline is valid? [True, True] Translation: X:177.74, Y:-5.62, Z:-3.88 [[ 9.99549102e-01 2.80876925e-02 1.06148440e-02 1.77736378e+02] [-2.80805674e-02 9.99605327e-01 -8.19713770e-04 -5.61741990e+00] [-1.06336785e-02 5.21273321e-04 9.99943325e-01 -3.88211466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20439141799997 meters 0.043476799970981465 Centerline is valid? [True, True] Translation: X:177.80, Y:-5.63, Z:-3.88 [[ 9.99686842e-01 2.28613469e-02 1.01773036e-02 1.77796565e+02] [-2.28545297e-02 9.99738492e-01 -7.85652914e-04 -5.62760349e+00] [-1.01926033e-02 5.52809391e-04 9.99947901e-01 -3.88428234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26439141799997 meters 0.04889192558998256 Centerline is valid? [True, True] Translation: X:177.86, Y:-5.64, Z:-3.89 [[ 9.99797897e-01 1.73272363e-02 1.01947349e-02 1.77856527e+02] [-1.73201101e-02 9.99849686e-01 -7.86894920e-04 -5.63788827e+00] [-1.02068372e-02 6.10161956e-04 9.99947723e-01 -3.88567956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32439141799998 meters 0.05278927719865871 Centerline is valid? [True, True] Translation: X:177.92, Y:-5.65, Z:-3.89 [[ 9.99846476e-01 1.42310122e-02 1.02226970e-02 1.77916019e+02] [-1.42236934e-02 9.99898527e-01 -7.88285637e-04 -5.64575346e+00] [-1.02328778e-02 6.42760107e-04 9.99947436e-01 -3.88696961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38439141799998 meters 0.053527644013533444 Centerline is valid? [True, True] Translation: X:177.98, Y:-5.65, Z:-3.89 [[ 9.99850612e-01 1.41394544e-02 9.94127847e-03 1.77977567e+02] [-1.41325405e-02 9.99899838e-01 -7.65381623e-04 -5.65061074e+00] [-9.95110481e-03 6.24771764e-04 9.99950291e-01 -3.88872872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44439141799998 meters 0.0521712038177875 Centerline is valid? [True, True] Translation: X:178.04, Y:-5.65, Z:-3.89 [[ 9.99805735e-01 1.72137685e-02 9.60094889e-03 1.78038278e+02] [-1.72074150e-02 9.99851665e-01 -7.43984278e-04 -5.64975055e+00] [-9.61233150e-03 5.78632236e-04 9.99953633e-01 -3.89152596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50439141799998 meters 0.047942845732209416 Centerline is valid? [True, True] Translation: X:178.10, Y:-5.64, Z:-3.89 [[ 9.99685152e-01 2.32856294e-02 9.34755821e-03 1.78099322e+02] [-2.32798712e-02 9.99728725e-01 -7.24362657e-04 -5.64438058e+00] [-9.36188969e-03 5.06524641e-04 9.99956048e-01 -3.89367967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56439141799999 meters 0.029861252921728625 Centerline is valid? [True, True] Translation: X:178.16, Y:-5.62, Z:-3.89 [[ 9.99257056e-01 3.69332844e-02 1.10121551e-02 1.78162398e+02] [-3.69261188e-02 9.99317634e-01 -8.53379061e-04 -5.61714199e+00] [-1.10361588e-02 4.46108902e-04 9.99939000e-01 -3.89077088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624391418 meters 0.022634894219816376 Centerline is valid? [True, True] Translation: X:178.22, Y:-5.60, Z:-3.89 [[ 9.98523042e-01 5.25864627e-02 1.36527528e-02 1.78224659e+02] [-5.25769096e-02 9.98616317e-01 -1.05795042e-03 -5.60183354e+00] [-1.36894956e-02 3.38568322e-04 9.99906237e-01 -3.88982032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684391418 meters 0.018635221760787114 Centerline is valid? [True, True] Translation: X:178.29, Y:-5.59, Z:-3.89 [[ 9.97889139e-01 6.31201387e-02 1.52680954e-02 1.78285324e+02] [-6.31094218e-02 9.98005912e-01 -1.18318438e-03 -5.59186963e+00] [-1.53123322e-02 2.17126173e-04 9.99882736e-01 -3.88974222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744391418 meters 0.016583436613278577 Centerline is valid? [True, True] Translation: X:178.34, Y:-5.58, Z:-3.89 [[ 9.96968002e-01 7.62555410e-02 1.54885489e-02 1.78344797e+02] [-7.62461015e-02 9.97088307e-01 -1.19990528e-03 -5.58102768e+00] [-1.55349505e-02 1.53256964e-05 9.99879325e-01 -3.89195819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804391418 meters 0.017033714583848576 Centerline is valid? [True, True] Translation: X:178.40, Y:-5.58, Z:-3.89 [[ 9.96348926e-01 8.38562684e-02 1.60294933e-02 1.78402572e+02] [-8.38471585e-02 9.96477855e-01 -1.24072201e-03 -5.57605235e+00] [-1.60770774e-02 -1.07835423e-04 9.99870750e-01 -3.89458723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864391418 meters 0.017216027839672195 Centerline is valid? [True, True] Translation: X:178.46, Y:-5.58, Z:-3.90 [[ 9.96180793e-01 8.57547483e-02 1.64301938e-02 1.78461809e+02] [-8.57454710e-02 9.96316266e-01 -1.26957103e-03 -5.57682199e+00] [-1.64785411e-02 -1.44092439e-04 9.99864209e-01 -3.89617900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92439141799997 meters 0.016593272293941107 Centerline is valid? [True, True] Translation: X:178.52, Y:-5.58, Z:-3.90 [[ 9.96248781e-01 8.46915216e-02 1.77683128e-02 1.78520616e+02] [-8.46805286e-02 9.96407209e-01 -1.37150295e-03 -5.58171156e+00] [-1.78206296e-02 -1.38271970e-04 9.99841190e-01 -3.89718644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98439141799997 meters 0.015703639137694177 Centerline is valid? [True, True] Translation: X:178.58, Y:-5.59, Z:-3.90 [[ 9.96678577e-01 7.90244033e-02 1.96712370e-02 1.78578165e+02] [-7.90098585e-02 9.96872681e-01 -1.51670110e-03 -5.59135978e+00] [-1.97295752e-02 -4.25581606e-05 9.99805352e-01 -3.89764959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04439141799998 meters 0.01599494120634356 Centerline is valid? [True, True] Translation: X:178.64, Y:-5.61, Z:-3.90 [[ 9.97340896e-01 6.97499072e-02 2.11208051e-02 1.78636078e+02] [-6.97311055e-02 9.97564498e-01 -1.62626207e-03 -5.60517443e+00] [-2.11827970e-02 1.49160579e-04 9.99775608e-01 -3.89815165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10439141799998 meters 0.017529871491936848 Centerline is valid? [True, True] Translation: X:178.69, Y:-5.62, Z:-3.90 [[ 9.97818947e-01 6.23787352e-02 2.15926368e-02 1.78693433e+02] [-6.23573958e-02 9.98052502e-01 -1.66083160e-03 -5.61738679e+00] [-2.16541858e-02 3.10748632e-04 9.99765472e-01 -3.89941573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16439141799998 meters 0.022650811879861572 Centerline is valid? [True, True] Translation: X:178.75, Y:-5.64, Z:-3.90 [[ 9.98510051e-01 4.97314313e-02 2.24602446e-02 1.78751821e+02] [-4.97051933e-02 9.98762443e-01 -1.72530415e-03 -5.63676371e+00] [-2.25182506e-02 6.06342737e-04 9.99746248e-01 -3.90207596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22439141799998 meters 0.02737172640191015 Centerline is valid? [True, True] Translation: X:178.81, Y:-5.65, Z:-3.90 [[ 9.98882522e-01 4.16452077e-02 2.23469141e-02 1.78810151e+02] [-4.16172213e-02 9.99132154e-01 -1.71617319e-03 -5.65207578e+00] [-2.23989908e-02 7.84238934e-04 9.99748804e-01 -3.90404032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28439141799998 meters 0.03633342496801114 Centerline is valid? [True, True] Translation: X:178.87, Y:-5.67, Z:-3.91 [[ 9.99215921e-01 3.22939849e-02 2.29050445e-02 1.78868512e+02] [-3.22621489e-02 9.99477895e-01 -1.75818174e-03 -5.67303004e+00] [-2.29498644e-02 1.01783723e-03 9.99736099e-01 -3.90567427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344391418 meters 0.033474181243043286 Centerline is valid? [True, True] Translation: X:178.93, Y:-5.68, Z:-3.91 [[ 9.99344923e-01 2.70745381e-02 2.40144443e-02 1.78929044e+02] [-2.70380327e-02 9.99632706e-01 -1.84360234e-03 -5.67576013e+00] [-2.40555386e-02 1.19309131e-03 9.99709912e-01 -3.90714581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404391418 meters 0.03532651014094387 Centerline is valid? [True, True] Translation: X:178.99, Y:-5.68, Z:-3.91 [[ 9.99416454e-01 2.49677352e-02 2.33101782e-02 1.78990917e+02] [-2.49327563e-02 9.99687528e-01 -1.79006146e-03 -5.68378054e+00] [-2.33475882e-02 1.20782989e-03 9.99726678e-01 -3.90969414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464391418 meters 0.03858779580669788 Centerline is valid? [True, True] Translation: X:179.05, Y:-5.69, Z:-3.91 [[ 9.99496120e-01 2.17272319e-02 2.31394550e-02 1.79050281e+02] [-2.16918551e-02 9.99763122e-01 -1.77878570e-03 -5.69285399e+00] [-2.31726218e-02 1.27595170e-03 9.99730665e-01 -3.91285465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524391418 meters 0.04068267401356508 Centerline is valid? [True, True] Translation: X:179.11, Y:-5.70, Z:-3.92 [[ 9.99564942e-01 1.85330996e-02 2.29445344e-02 1.79111096e+02] [-1.84974330e-02 9.99827349e-01 -1.76574824e-03 -5.69991769e+00] [-2.29732978e-02 1.34056504e-03 9.99735180e-01 -3.91516472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584391418 meters 0.04052193658301727 Centerline is valid? [True, True] Translation: X:179.17, Y:-5.70, Z:-3.92 [[ 9.99607222e-01 1.65813224e-02 2.25934160e-02 1.79172953e+02] [-1.65462200e-02 9.99861588e-01 -1.73972549e-03 -5.70324972e+00] [-2.26191358e-02 1.36520653e-03 9.99743222e-01 -3.91762668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644391418 meters 0.04232536874843068 Centerline is valid? [True, True] Translation: X:179.23, Y:-5.71, Z:-3.92 [[ 9.99594602e-01 1.78666541e-02 2.21678821e-02 1.79234071e+02] [-1.78330522e-02 9.99839512e-01 -1.71257079e-03 -5.70738907e+00] [-2.21949223e-02 1.31655551e-03 9.99752795e-01 -3.91957137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70439141799997 meters 0.040872454279941996 Centerline is valid? [True, True] Translation: X:179.30, Y:-5.71, Z:-3.92 [[ 9.99512696e-01 2.10574803e-02 2.30424393e-02 1.79295322e+02] [-2.10218848e-02 9.99777421e-01 -1.78594911e-03 -5.70778263e+00] [-2.30749181e-02 1.30068331e-03 9.99732893e-01 -3.92007304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76439141799997 meters 0.03431275613627943 Centerline is valid? [True, True] Translation: X:179.36, Y:-5.70, Z:-3.92 [[ 9.99260335e-01 2.91630948e-02 2.50658553e-02 1.79356856e+02] [-2.91235014e-02 9.99573932e-01 -1.94326325e-03 -5.69828555e+00] [-2.51118471e-02 1.21182041e-03 9.99683913e-01 -3.91942332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82439141799998 meters 0.02593667400349425 Centerline is valid? [True, True] Translation: X:179.42, Y:-5.69, Z:-3.92 [[ 9.98858963e-01 3.97527838e-02 2.64667379e-02 1.79418743e+02] [-3.97123492e-02 9.99209047e-01 -2.05183276e-03 -5.68518432e+00] [-2.65273700e-02 9.98435208e-04 9.99647589e-01 -3.91934595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88439141799998 meters 0.022921804556678995 Centerline is valid? [True, True] Translation: X:179.48, Y:-5.68, Z:-3.92 [[ 9.98533862e-01 4.70892574e-02 2.66969588e-02 1.79480017e+02] [-4.70507351e-02 9.98890357e-01 -2.06963226e-03 -5.68192337e+00] [-2.67647921e-02 8.10486361e-04 9.99641430e-01 -3.92040630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94439141799998 meters 0.01893232555477203 Centerline is valid? [True, True] Translation: X:179.54, Y:-5.68, Z:-3.92 [[ 9.98015130e-01 5.75581428e-02 2.55511280e-02 1.79540613e+02] [-5.75262856e-02 9.98342027e-01 -1.98071765e-03 -5.67522577e+00] [-2.56227714e-02 5.06924695e-04 9.99671554e-01 -3.92323597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00439141799998 meters 0.016444573625455896 Centerline is valid? [True, True] Translation: X:179.60, Y:-5.67, Z:-3.93 [[ 9.97639540e-01 6.42791183e-02 2.41566246e-02 1.79599639e+02] [-6.42526203e-02 9.97931909e-01 -1.87230828e-03 -5.67223342e+00] [-2.42270168e-02 3.15762340e-04 9.99706433e-01 -3.92555926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06439141799999 meters 0.014950608604186065 Centerline is valid? [True, True] Translation: X:179.66, Y:-5.67, Z:-3.93 [[ 9.96984724e-01 7.40916523e-02 2.30626841e-02 1.79658586e+02] [-7.40701650e-02 9.97251434e-01 -1.78571888e-03 -5.66726252e+00] [-2.31316016e-02 7.20776256e-05 9.99732426e-01 -3.92791769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124391418 meters 0.015082539028678316 Centerline is valid? [True, True] Translation: X:179.72, Y:-5.66, Z:-3.93 [[ 9.96386061e-01 8.18980348e-02 2.25284237e-02 1.79718120e+02] [-8.18795657e-02 9.96640708e-01 -1.74257259e-03 -5.66437642e+00] [-2.25954574e-02 -1.08342511e-04 9.99744684e-01 -3.93006498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184391418 meters 0.015723278557758 Centerline is valid? [True, True] Translation: X:179.78, Y:-5.67, Z:-3.93 [[ 9.96169742e-01 8.44218375e-02 2.27771576e-02 1.79775430e+02] [-8.44036610e-02 9.96430090e-01 -1.75991935e-03 -5.66620656e+00] [-2.28444208e-02 -1.69297081e-04 9.99739018e-01 -3.93055954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244391418 meters 0.015188143330679003 Centerline is valid? [True, True] Translation: X:179.83, Y:-5.67, Z:-3.93 [[ 9.96297620e-01 8.27380198e-02 2.33553669e-02 1.79834288e+02] [-8.27185139e-02 9.96571323e-01 -1.80169917e-03 -5.67412580e+00] [-2.34243579e-02 -1.36892644e-04 9.99725603e-01 -3.93092191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304391418 meters 0.015070155632898112 Centerline is valid? [True, True] Translation: X:179.89, Y:-5.68, Z:-3.93 [[ 9.96608337e-01 7.88593408e-02 2.35165234e-02 1.79892713e+02] [-7.88385681e-02 9.96885752e-01 -1.81059686e-03 -5.68347107e+00] [-2.35860696e-02 -4.95531037e-05 9.99721809e-01 -3.93213423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364391418 meters 0.015534761721839154 Centerline is valid? [True, True] Translation: X:179.95, Y:-5.70, Z:-3.93 [[ 9.97335874e-01 6.94618205e-02 2.22757741e-02 1.79949182e+02] [-6.94408752e-02 9.97584598e-01 -1.71335632e-03 -5.69894883e+00] [-2.23409820e-02 1.61942473e-04 9.99750396e-01 -3.93446190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42439141799997 meters 0.016932407099525284 Centerline is valid? [True, True] Translation: X:180.01, Y:-5.71, Z:-3.94 [[ 9.97890820e-01 6.14801313e-02 2.08352005e-02 1.80006818e+02] [-6.14601082e-02 9.98108257e-01 -1.60060556e-03 -5.71249961e+00] [-2.08941911e-02 3.16695916e-04 9.99781642e-01 -3.93688599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48439141799997 meters 0.02145069297092028 Centerline is valid? [True, True] Translation: X:180.06, Y:-5.73, Z:-3.94 [[ 9.98514432e-01 5.06064045e-02 2.01970754e-02 1.80064818e+02] [-5.05853987e-02 9.98718537e-01 -1.54990879e-03 -5.73232943e+00] [-2.02496289e-02 5.25929181e-04 9.99794817e-01 -3.93874348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54439141799998 meters 0.024499674980597685 Centerline is valid? [True, True] Translation: X:180.12, Y:-5.75, Z:-3.94 [[ 9.98933896e-01 4.23581912e-02 1.83536077e-02 1.80124022e+02] [-4.23394675e-02 9.99102291e-01 -1.40771059e-03 -5.74672453e+00] [-1.83967596e-02 6.29127852e-04 9.99830567e-01 -3.94018568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60439141799998 meters 0.027407344459536007 Centerline is valid? [True, True] Translation: X:180.18, Y:-5.76, Z:-3.94 [[ 9.99141416e-01 3.74800408e-02 1.76544139e-02 1.80183253e+02] [-3.74619622e-02 9.99297137e-01 -1.35374310e-03 -5.75956398e+00] [-1.76927436e-02 6.91211807e-04 9.99843232e-01 -3.94181809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66439141799998 meters 0.02865835963939623 Centerline is valid? [True, True] Translation: X:180.24, Y:-5.77, Z:-3.94 [[ 9.99239349e-01 3.52218904e-02 1.67374376e-02 1.80242363e+02] [-3.52053285e-02 9.99379276e-01 -1.28322326e-03 -5.76752001e+00] [-1.67722459e-02 6.93000180e-04 9.99859096e-01 -3.94411563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72439141799998 meters 0.030387000356696912 Centerline is valid? [True, True] Translation: X:180.30, Y:-5.78, Z:-3.95 [[ 9.99369810e-01 3.21807610e-02 1.49793434e-02 1.80302099e+02] [-3.21671667e-02 9.99481844e-01 -1.14765396e-03 -5.77650983e+00] [-1.50085141e-02 6.65087685e-04 9.99887145e-01 -3.94750156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78439141799998 meters 0.031124207309697866 Centerline is valid? [True, True] Translation: X:180.36, Y:-5.78, Z:-3.95 [[ 9.99514430e-01 2.88384991e-02 1.18002570e-02 1.80362342e+02] [-2.88298306e-02 9.99583925e-01 -9.04085799e-04 -5.78332943e+00] [-1.18214197e-02 5.63447393e-04 9.99929966e-01 -3.95080860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844391418 meters 0.03285534210297805 Centerline is valid? [True, True] Translation: X:180.42, Y:-5.79, Z:-3.95 [[ 9.99569284e-01 2.72134423e-02 1.09852143e-02 1.80421285e+02] [-2.72058248e-02 9.99629498e-01 -8.42296367e-04 -5.79000133e+00] [-1.10040660e-02 5.43071762e-04 9.99939306e-01 -3.95216232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904391418 meters 0.03372665062535813 Centerline is valid? [True, True] Translation: X:180.48, Y:-5.79, Z:-3.95 [[ 9.99537846e-01 2.79197456e-02 1.20242438e-02 1.80479849e+02] [-2.79106801e-02 9.99609997e-01 -9.21113655e-04 -5.79416355e+00] [-1.20452716e-02 5.85083136e-04 9.99927282e-01 -3.95217779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964391418 meters 0.031423787699368155 Centerline is valid? [True, True] Translation: X:180.54, Y:-5.79, Z:-3.95 [[ 9.99390182e-01 3.28775527e-02 1.17614171e-02 1.80540065e+02] [-3.28692344e-02 9.99459256e-01 -8.99916240e-04 -5.79249012e+00] [-1.17846442e-02 5.12778680e-04 9.99930427e-01 -3.95335216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024391418 meters 0.02966384726462383 Centerline is valid? [True, True] Translation: X:180.60, Y:-5.79, Z:-3.96 [[ 9.99209415e-01 3.83360403e-02 1.05305374e-02 1.80599134e+02] [-3.83296740e-02 9.99264823e-01 -8.05790297e-04 -5.79231607e+00] [-1.05536864e-02 4.01521185e-04 9.99944228e-01 -3.95589267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084391418 meters 0.02224308009868549 Centerline is valid? [True, True] Translation: X:180.66, Y:-5.78, Z:-3.96 [[ 9.98723923e-01 4.93322621e-02 1.08098929e-02 1.80660716e+02] [-4.93262059e-02 9.98782380e-01 -8.26312284e-04 -5.78029405e+00] [-1.08374944e-02 2.92046845e-04 9.99941230e-01 -3.95520932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144391418 meters 0.017592260578487538 Centerline is valid? [True, True] Translation: X:180.72, Y:-5.77, Z:-3.96 [[ 9.98041344e-01 6.15442568e-02 1.12151481e-02 1.80720705e+02] [-6.15385051e-02 9.98104342e-01 -8.57552067e-04 -5.77036435e+00] [-1.12466654e-02 1.65708969e-04 9.99936741e-01 -3.95610743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20439141799997 meters 0.01511418515340438 Centerline is valid? [True, True] Translation: X:180.78, Y:-5.76, Z:-3.96 [[ 9.97318071e-01 7.22116505e-02 1.19223809e-02 1.80779289e+02] [-7.22059077e-02 9.97389330e-01 -9.11999524e-04 -5.76134132e+00] [-1.19571124e-02 4.86872751e-05 9.99928510e-01 -3.95679564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26439141799997 meters 0.014932910876038713 Centerline is valid? [True, True] Translation: X:180.84, Y:-5.76, Z:-3.96 [[ 9.96992176e-01 7.65441272e-02 1.21489589e-02 1.80837983e+02] [-7.65385008e-02 9.97066195e-01 -9.28070835e-04 -5.76027078e+00] [-1.21843546e-02 -4.58373891e-06 9.99925768e-01 -3.95655987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32439141799998 meters 0.015048120394028825 Centerline is valid? [True, True] Translation: X:180.90, Y:-5.76, Z:-3.96 [[ 9.96846816e-01 7.84710221e-02 1.17781182e-02 1.80895570e+02] [-7.84658770e-02 9.96916395e-01 -8.99018116e-04 -5.76181106e+00] [-1.18123460e-02 -2.79970296e-05 9.99930231e-01 -3.95887646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38439141799998 meters 0.015152974627328753 Centerline is valid? [True, True] Translation: X:180.95, Y:-5.77, Z:-3.96 [[ 9.97191819e-01 7.40522893e-02 1.11685023e-02 1.80952639e+02] [-7.40473975e-02 9.97254360e-01 -8.51448955e-04 -5.76903730e+00] [-1.12008894e-02 2.20594006e-05 9.99937268e-01 -3.96153875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44439141799998 meters 0.01586976465262851 Centerline is valid? [True, True] Translation: X:181.01, Y:-5.78, Z:-3.96 [[ 9.97758668e-01 6.57881241e-02 1.22295669e-02 1.81010868e+02] [-6.57816571e-02 9.97833607e-01 -9.30737793e-04 -5.78123746e+00] [-1.22643043e-02 1.24170527e-04 9.99924783e-01 -3.96269234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50439141799998 meters 0.01741162508724921 Centerline is valid? [True, True] Translation: X:181.07, Y:-5.79, Z:-3.96 [[ 9.98158575e-01 5.92594400e-02 1.29529157e-02 1.81068782e+02] [-5.92516500e-02 9.98242592e-01 -9.84681645e-04 -5.79077127e+00] [-1.29885039e-02 2.15386798e-04 9.99915623e-01 -3.96309277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56439141799999 meters 0.020730430194970405 Centerline is valid? [True, True] Translation: X:181.13, Y:-5.80, Z:-3.96 [[ 9.98634493e-01 5.01686712e-02 1.45689042e-02 1.81127103e+02] [-5.01578710e-02 9.98740689e-01 -1.10599358e-03 -5.80376191e+00] [-1.46060437e-02 3.73738116e-04 9.99893256e-01 -3.96326279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624391418 meters 0.026460132623999936 Centerline is valid? [True, True] Translation: X:181.19, Y:-5.82, Z:-3.97 [[ 9.98987277e-01 4.23845874e-02 1.50985947e-02 1.81185092e+02] [-4.23721154e-02 9.99101242e-01 -1.14512329e-03 -5.81894683e+00] [-1.51335603e-02 5.04204201e-04 9.99885354e-01 -3.96504892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684391418 meters 0.02793004128952955 Centerline is valid? [True, True] Translation: X:181.24, Y:-5.83, Z:-3.97 [[ 9.99178720e-01 3.78798269e-02 1.43876479e-02 1.81244375e+02] [-3.78680430e-02 9.99282153e-01 -1.09067761e-03 -5.82669042e+00] [-1.44186345e-02 5.44949791e-04 9.99895898e-01 -3.96722093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744391418 meters 0.030095191478926895 Centerline is valid? [True, True] Translation: X:181.30, Y:-5.83, Z:-3.97 [[ 9.99365869e-01 3.31786529e-02 1.29242425e-02 1.81303920e+02] [-3.31687594e-02 9.99449286e-01 -9.79154949e-04 -5.83479821e+00] [-1.29496119e-02 5.49852948e-04 9.99915999e-01 -3.96979516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804391418 meters 0.031107045505367754 Centerline is valid? [True, True] Translation: X:181.36, Y:-5.84, Z:-3.97 [[ 9.99408193e-01 3.22397861e-02 1.19941276e-02 1.81362832e+02] [-3.22311958e-02 9.99480027e-01 -9.08869709e-04 -5.84043323e+00] [-1.20171928e-02 5.21746758e-04 9.99927655e-01 -3.97232076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864391418 meters 0.02850002683012938 Centerline is valid? [True, True] Translation: X:181.42, Y:-5.84, Z:-3.97 [[ 9.99360439e-01 3.36755260e-02 1.20279532e-02 1.81421576e+02] [-3.36669968e-02 9.99432691e-01 -9.10952997e-04 -5.83996792e+00] [-1.20518065e-02 5.05425324e-04 9.99927247e-01 -3.97297864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92439141799997 meters 0.0269920927199218 Centerline is valid? [True, True] Translation: X:181.48, Y:-5.84, Z:-3.98 [[ 9.99187378e-01 3.86370458e-02 1.14787468e-02 1.81480657e+02] [-3.86296191e-02 9.99253221e-01 -8.68093451e-04 -5.83961055e+00] [-1.15037152e-02 4.23968405e-04 9.99933740e-01 -3.97515043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98439141799997 meters 0.023454111216875514 Centerline is valid? [True, True] Translation: X:181.54, Y:-5.84, Z:-3.98 [[ 9.98903171e-01 4.57148868e-02 1.01293799e-02 1.81541195e+02] [-4.57094724e-02 9.98954483e-01 -7.65514633e-04 -5.83557610e+00] [-1.01537849e-02 3.01666383e-04 9.99948403e-01 -3.97722007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04439141799998 meters 0.02159089309697608 Centerline is valid? [True, True] Translation: X:181.60, Y:-5.83, Z:-3.98 [[ 9.98650679e-01 5.09917476e-02 9.83175174e-03 1.81600566e+02] [-5.09869017e-02 9.98699046e-01 -7.43070136e-04 -5.83440966e+00] [-9.85685152e-03 2.40776936e-04 9.99951391e-01 -3.97889722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10439141799998 meters 0.017687132132065866 Centerline is valid? [True, True] Translation: X:181.66, Y:-5.83, Z:-3.98 [[ 9.98194176e-01 5.92528360e-02 9.87360715e-03 1.81661366e+02] [-5.92483585e-02 9.98242994e-01 -7.45633511e-04 -5.82782176e+00] [-9.90044007e-03 1.59292012e-04 9.99950977e-01 -3.97863036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16439141799998 meters 0.017169337405591515 Centerline is valid? [True, True] Translation: X:181.72, Y:-5.83, Z:-3.98 [[ 9.98046456e-01 6.17180266e-02 9.70341757e-03 1.81720408e+02] [-6.17138134e-02 9.98093617e-01 -7.33309230e-04 -5.82946161e+00] [-9.73017754e-03 1.33041777e-04 9.99952652e-01 -3.98035949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22439141799998 meters 0.015753960987345998 Centerline is valid? [True, True] Translation: X:181.78, Y:-5.82, Z:-3.98 [[ 9.97518864e-01 6.97716065e-02 9.38292861e-03 1.81780024e+02] [-6.97680290e-02 9.97562991e-01 -7.08466472e-04 -5.82384198e+00] [-9.40949317e-03 5.20802352e-05 9.99955728e-01 -3.98051061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28439141799998 meters 0.01621960807418288 Centerline is valid? [True, True] Translation: X:181.84, Y:-5.82, Z:-3.98 [[ 9.96897032e-01 7.81590627e-02 9.35244874e-03 1.81838533e+02] [-7.81558821e-02 9.96940901e-01 -7.05639798e-04 -5.81963835e+00] [-9.37899082e-03 -2.74986613e-05 9.99956016e-01 -3.98161619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344391418 meters 0.016670943528656012 Centerline is valid? [True, True] Translation: X:181.90, Y:-5.82, Z:-3.98 [[ 9.96558432e-01 8.23140655e-02 9.78188393e-03 1.81897199e+02] [-8.23107757e-02 9.96606437e-01 -7.39112481e-04 -5.81957727e+00] [-9.80952784e-03 -6.85856786e-05 9.99951883e-01 -3.98213947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404391418 meters 0.017511430779276003 Centerline is valid? [True, True] Translation: X:181.96, Y:-5.82, Z:-3.98 [[ 9.96268031e-01 8.57823751e-02 9.56004410e-03 1.81956297e+02] [-8.57794169e-02 9.96313893e-01 -7.19793320e-04 -5.82008559e+00] [-9.58655033e-03 -1.02947934e-04 9.99954043e-01 -3.98266702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464391418 meters 0.017798376728723513 Centerline is valid? [True, True] Translation: X:182.01, Y:-5.82, Z:-3.98 [[ 9.96189006e-01 8.66566583e-02 9.90392814e-03 1.82014579e+02] [-8.66535560e-02 9.96238229e-01 -7.42733727e-04 -5.82357692e+00] [-9.93103466e-03 -1.18307418e-04 9.99950679e-01 -3.98349138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524391418 meters 0.01766989732989961 Centerline is valid? [True, True] Translation: X:182.07, Y:-5.83, Z:-3.98 [[ 9.96082606e-01 8.78278920e-02 1.02812381e-02 1.82072892e+02] [-8.78246411e-02 9.96135655e-01 -7.68130298e-04 -5.82871753e+00] [-1.03089711e-02 -1.37824817e-04 9.99946852e-01 -3.98365346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584391418 meters 0.017691198086141707 Centerline is valid? [True, True] Translation: X:182.13, Y:-5.84, Z:-3.98 [[ 9.96116391e-01 8.74150555e-02 1.05234370e-02 1.82130232e+02] [-8.74116801e-02 9.96171967e-01 -7.81155010e-04 -5.83617113e+00] [-1.05514377e-02 -1.41750002e-04 9.99944322e-01 -3.98496503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64439141799997 meters 0.016527863880902046 Centerline is valid? [True, True] Translation: X:182.19, Y:-5.85, Z:-3.99 [[ 9.96367826e-01 8.44935898e-02 1.05825099e-02 1.82188816e+02] [-8.44900160e-02 9.96424017e-01 -7.85128223e-04 -5.84787784e+00] [-1.06110053e-02 -1.11839930e-04 9.99943695e-01 -3.98526273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70439141799997 meters 0.015346869843532618 Centerline is valid? [True, True] Translation: X:182.25, Y:-5.86, Z:-3.99 [[ 9.96795666e-01 7.93115233e-02 1.03963043e-02 1.82246709e+02] [-7.93077925e-02 9.96849878e-01 -7.71283294e-04 -5.86058732e+00] [-1.04247263e-02 -5.56960966e-05 9.99945660e-01 -3.98668979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76439141799997 meters 0.015014872182924122 Centerline is valid? [True, True] Translation: X:182.30, Y:-5.87, Z:-3.99 [[ 9.97091257e-01 7.55049620e-02 1.03935805e-02 1.82304800e+02] [-7.55010799e-02 9.97145426e-01 -7.65941329e-04 -5.87123640e+00] [-1.04217436e-02 -2.10131490e-05 9.99945692e-01 -3.98700250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82439141799998 meters 0.015007866985005884 Centerline is valid? [True, True] Translation: X:182.36, Y:-5.88, Z:-3.99 [[ 9.97397372e-01 7.12508954e-02 1.10359937e-02 1.82363178e+02] [-7.12462695e-02 9.97458425e-01 -8.12247360e-04 -5.88331964e+00] [-1.10658183e-02 2.38599992e-05 9.99938772e-01 -3.98755023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88439141799998 meters 0.015239496871699081 Centerline is valid? [True, True] Translation: X:182.42, Y:-5.89, Z:-3.99 [[ 9.97466132e-01 7.03320246e-02 1.07108065e-02 1.82421674e+02] [-7.03276231e-02 9.97523636e-01 -7.87497890e-04 -5.89103944e+00] [-1.07396689e-02 3.22369127e-05 9.99942328e-01 -3.98884955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94439141799998 meters 0.015051284366554483 Centerline is valid? [True, True] Translation: X:182.48, Y:-5.90, Z:-3.99 [[ 9.97408597e-01 7.11940469e-02 1.03681560e-02 1.82479288e+02] [-7.11899726e-02 9.97462484e-01 -7.61969953e-04 -5.89834280e+00] [-1.03960944e-02 2.18866400e-05 9.99945959e-01 -3.99095938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00439141799998 meters 0.015239848947498557 Centerline is valid? [True, True] Translation: X:182.54, Y:-5.90, Z:-3.99 [[ 9.97191737e-01 7.42182486e-02 1.00145126e-02 1.82537991e+02] [-7.42146159e-02 9.97242023e-01 -7.34387274e-04 -5.90449855e+00] [-1.00413978e-02 -1.08982872e-05 9.99949584e-01 -3.99237717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06439141799999 meters 0.015611830100551562 Centerline is valid? [True, True] Translation: X:182.60, Y:-5.91, Z:-3.99 [[ 9.97003035e-01 7.67548897e-02 9.67656090e-03 1.82595289e+02] [-7.67516165e-02 9.97049992e-01 -7.09718065e-04 -5.90968790e+00] [-9.70248930e-03 -3.51006260e-05 9.99952929e-01 -3.99431141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124391418 meters 0.015816696354728748 Centerline is valid? [True, True] Translation: X:182.65, Y:-5.92, Z:-3.99 [[ 9.96763289e-01 7.97295303e-02 1.03028364e-02 1.82653895e+02] [-7.97260040e-02 9.96816531e-01 -7.53187808e-04 -5.91601111e+00] [-1.03300889e-02 -7.06540182e-05 9.99946641e-01 -3.99403500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184391418 meters 0.01579535818824108 Centerline is valid? [True, True] Translation: X:182.71, Y:-5.92, Z:-4.00 [[ 9.96589295e-01 8.18333287e-02 1.06340840e-02 1.82712232e+02] [-8.18297011e-02 9.96646024e-01 -7.76512654e-04 -5.92409275e+00] [-1.06619622e-02 -9.63197197e-05 9.99943155e-01 -3.99505671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244391418 meters 0.015994423210590136 Centerline is valid? [True, True] Translation: X:182.77, Y:-5.93, Z:-4.00 [[ 9.96472977e-01 8.32324453e-02 1.06755031e-02 1.82770602e+02] [-8.32288789e-02 9.96530154e-01 -7.78682489e-04 -5.93137885e+00] [-1.07032724e-02 -1.12574100e-04 9.99942712e-01 -3.99654355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304391418 meters 0.016307687777616816 Centerline is valid? [True, True] Translation: X:182.83, Y:-5.94, Z:-4.00 [[ 9.96372953e-01 8.44043571e-02 1.08093826e-02 1.82829333e+02] [-8.44007792e-02 9.96431577e-01 -7.87557724e-04 -5.93948834e+00] [-1.08372835e-02 -1.27619103e-04 9.99941267e-01 -3.99777126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364391418 meters 0.016506947058968147 Centerline is valid? [True, True] Translation: X:182.89, Y:-5.95, Z:-4.00 [[ 9.96364511e-01 8.44407253e-02 1.12926988e-02 1.82887182e+02] [-8.44368290e-02 9.96428495e-01 -8.22212436e-04 -5.94751620e+00] [-1.13217950e-02 -1.34296382e-04 9.99935897e-01 -3.99917903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42439141799997 meters 0.015733890336440418 Centerline is valid? [True, True] Translation: X:182.94, Y:-5.96, Z:-4.00 [[ 9.96553714e-01 8.21372055e-02 1.15833998e-02 1.82944930e+02] [-8.21329719e-02 9.96621025e-01 -8.41531575e-04 -5.96044545e+00] [-1.16133809e-02 -1.12747637e-04 9.99932556e-01 -4.00021055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48439141799997 meters 0.01499265765914789 Centerline is valid? [True, True] Translation: X:183.00, Y:-5.97, Z:-4.00 [[ 9.96879975e-01 7.79625046e-02 1.23354347e-02 1.83002197e+02] [-7.79573953e-02 9.96956289e-01 -8.95225305e-04 -5.97449503e+00] [-1.23676832e-02 -6.92061750e-05 9.99923515e-01 -4.00163114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54439141799998 meters 0.01486652372851077 Centerline is valid? [True, True] Translation: X:183.06, Y:-5.98, Z:-4.00 [[ 9.97024876e-01 7.58582891e-02 1.36717780e-02 1.83059129e+02] [-7.58518370e-02 9.97118608e-01 -9.90600868e-04 -5.98496890e+00] [-1.37075295e-02 -4.93757683e-05 9.99906046e-01 -4.00284184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60439141799998 meters 0.014283382971545895 Centerline is valid? [True, True] Translation: X:183.12, Y:-6.00, Z:-4.00 [[ 9.97203168e-01 7.30645344e-02 1.57294489e-02 1.83116815e+02] [-7.30556773e-02 9.97327215e-01 -1.13772315e-03 -5.99801147e+00] [-1.57705347e-02 -1.45844130e-05 9.99875637e-01 -4.00285034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66439141799998 meters 0.014285590534143577 Centerline is valid? [True, True] Translation: X:183.18, Y:-6.01, Z:-4.00 [[ 9.97525179e-01 6.78119501e-02 1.85756755e-02 1.83175083e+02] [-6.77987196e-02 9.97698117e-01 -1.34181161e-03 -6.01217641e+00] [-1.86239073e-02 7.90838519e-05 9.99826557e-01 -4.00310966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72439141799998 meters 0.015784002637703715 Centerline is valid? [True, True] Translation: X:183.23, Y:-6.03, Z:-4.01 [[ 9.97955608e-01 6.08286445e-02 1.96081875e-02 1.83232194e+02] [-6.08125852e-02 9.98148199e-01 -1.41479208e-03 -6.02870145e+00] [-1.96579370e-02 2.19475118e-04 9.99806740e-01 -4.00537308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78439141799998 meters 0.01667756213749348 Centerline is valid? [True, True] Translation: X:183.29, Y:-6.04, Z:-4.01 [[ 9.98244629e-01 5.58285076e-02 1.97696586e-02 1.83290148e+02] [-5.58112481e-02 9.98440322e-01 -1.42412583e-03 -6.03915057e+00] [-1.98183311e-02 3.18256637e-04 9.99803547e-01 -4.00749708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844391418 meters 0.01946640696938001 Centerline is valid? [True, True] Translation: X:183.35, Y:-6.05, Z:-4.01 [[ 9.98619533e-01 4.85578204e-02 2.00291286e-02 1.83348710e+02] [-4.85386771e-02 9.98820264e-01 -1.44109976e-03 -6.05405385e+00] [-2.00754761e-02 4.66922963e-04 9.99798358e-01 -4.01016536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904391418 meters 0.02133533314037755 Centerline is valid? [True, True] Translation: X:183.41, Y:-6.06, Z:-4.01 [[ 9.98814859e-01 4.46662827e-02 1.93339249e-02 1.83408091e+02] [-4.46477311e-02 9.99001825e-01 -1.39034138e-03 -6.06442538e+00] [-1.93767276e-02 5.25477753e-04 9.99812115e-01 -4.01242677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964391418 meters 0.02316115983862843 Centerline is valid? [True, True] Translation: X:183.47, Y:-6.07, Z:-4.01 [[ 9.98987385e-01 4.02863677e-02 2.00303174e-02 1.83468225e+02] [-4.02655936e-02 9.99187975e-01 -1.43952632e-03 -6.07347038e+00] [-2.00720455e-02 6.31536018e-04 9.99798337e-01 -4.01382532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024391418 meters 0.02374801849240997 Centerline is valid? [True, True] Translation: X:183.53, Y:-6.08, Z:-4.01 [[ 9.98995658e-01 3.96293214e-02 2.09091573e-02 1.83529359e+02] [-3.96065411e-02 9.99214223e-01 -1.50264344e-03 -6.08004660e+00] [-2.09522761e-02 6.72994875e-04 9.99780250e-01 -4.01481944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084391418 meters 0.02378438669119071 Centerline is valid? [True, True] Translation: X:183.59, Y:-6.08, Z:-4.02 [[ 9.98955790e-01 4.00075781e-02 2.20618032e-02 1.83591040e+02] [-3.99822883e-02 9.99199129e-01 -1.58639893e-03 -6.08445028e+00] [-2.21076025e-02 7.02661022e-04 9.99755350e-01 -4.01576739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14439141799997 meters 0.02211686728957058 Centerline is valid? [True, True] Translation: X:183.65, Y:-6.09, Z:-4.02 [[ 9.98806466e-01 4.25597517e-02 2.39648001e-02 1.83652998e+02] [-4.25306068e-02 9.99093676e-01 -1.72476692e-03 -6.08538528e+00] [-2.40164859e-02 7.03470858e-04 9.99711315e-01 -4.01535798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20439141799997 meters 0.023003615891735482 Centerline is valid? [True, True] Translation: X:183.71, Y:-6.09, Z:-4.02 [[ 9.98716174e-01 4.41053840e-02 2.49142177e-02 1.83714162e+02] [-4.40743179e-02 9.99026643e-01 -1.79493864e-03 -6.09025827e+00] [-2.49691337e-02 6.94557102e-04 9.99687981e-01 -4.01601714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26439141799997 meters 0.022277271960155786 Centerline is valid? [True, True] Translation: X:183.78, Y:-6.09, Z:-4.02 [[ 9.98669816e-01 4.50168194e-02 2.51412923e-02 1.83775166e+02] [-4.49853814e-02 9.98985997e-01 -1.81492902e-03 -6.09197752e+00] [-2.51975013e-02 6.81524206e-04 9.99682260e-01 -4.01747427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32439141799998 meters 0.022642406146316366 Centerline is valid? [True, True] Translation: X:183.84, Y:-6.10, Z:-4.02 [[ 9.98658125e-01 4.55675529e-02 2.46078750e-02 1.83836297e+02] [-4.55375657e-02 9.98961045e-01 -1.77789753e-03 -6.09560410e+00] [-2.46633229e-02 6.54929090e-04 9.99695599e-01 -4.01976695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38439141799998 meters 0.022316838937698744 Centerline is valid? [True, True] Translation: X:183.90, Y:-6.10, Z:-4.02 [[ 9.98574365e-01 4.72024087e-02 2.49232781e-02 1.83897151e+02] [-4.71720166e-02 9.98885148e-01 -1.80628239e-03 -6.09700910e+00] [-2.49807532e-02 6.28026007e-04 9.99687735e-01 -4.02121299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44439141799998 meters 0.020613021344278594 Centerline is valid? [True, True] Translation: X:183.96, Y:-6.10, Z:-4.02 [[ 9.98497596e-01 4.91321321e-02 2.42607736e-02 1.83957740e+02] [-4.91038844e-02 9.98792128e-01 -1.75906521e-03 -6.09693247e+00] [-2.43178963e-02 5.65124162e-04 9.99704117e-01 -4.02330352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50439141799998 meters 0.01736119597831389 Centerline is valid? [True, True] Translation: X:184.02, Y:-6.09, Z:-4.02 [[ 9.98287681e-01 5.35401579e-02 2.35617910e-02 1.84018394e+02] [-5.35147415e-02 9.98565598e-01 -1.70838439e-03 -6.09211170e+00] [-2.36194611e-02 4.44555933e-04 9.99720923e-01 -4.02491061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56439141799999 meters 0.01674479446142479 Centerline is valid? [True, True] Translation: X:184.08, Y:-6.09, Z:-4.03 [[ 9.98111153e-01 5.66446318e-02 2.37804961e-02 1.84077084e+02] [-5.66196245e-02 9.98394334e-01 -1.72413310e-03 -6.09317652e+00] [-2.38399755e-02 3.74433716e-04 9.99715717e-01 -4.02545314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624391418 meters 0.01598345040897533 Centerline is valid? [True, True] Translation: X:184.14, Y:-6.10, Z:-4.03 [[ 9.97975547e-01 5.88353560e-02 2.41497065e-02 1.84137134e+02] [-5.88102421e-02 9.98267647e-01 -1.74945417e-03 -6.09521968e+00] [-2.42108005e-02 3.25662394e-04 9.99706823e-01 -4.02655259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684391418 meters 0.01649442104287192 Centerline is valid? [True, True] Translation: X:184.19, Y:-6.10, Z:-4.03 [[ 9.98070824e-01 5.71882352e-02 2.41689082e-02 1.84194988e+02] [-5.71626197e-02 9.98363347e-01 -1.74997197e-03 -6.10204543e+00] [-2.42294299e-02 3.65037857e-04 9.99706358e-01 -4.02773697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744391418 meters 0.017957327462473548 Centerline is valid? [True, True] Translation: X:184.25, Y:-6.11, Z:-4.03 [[ 9.98285295e-01 5.35925532e-02 2.35437357e-02 1.84253827e+02] [-5.35672417e-02 9.98562789e-01 -1.70489772e-03 -6.11020781e+00] [-2.36012682e-02 4.40801342e-04 9.99721354e-01 -4.02981426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804391418 meters 0.022140815136943354 Centerline is valid? [True, True] Translation: X:184.31, Y:-6.12, Z:-4.03 [[ 9.98703613e-01 4.56630177e-02 2.24940457e-02 1.84312056e+02] [-4.56379217e-02 9.98956721e-01 -1.62803556e-03 -6.12396524e+00] [-2.25449192e-02 5.99343501e-04 9.99745651e-01 -4.03148293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864391418 meters 0.027592426126804823 Centerline is valid? [True, True] Translation: X:184.37, Y:-6.14, Z:-4.03 [[ 9.99089470e-01 3.66773388e-02 2.17945755e-02 1.84371685e+02] [-3.66516613e-02 9.99326859e-01 -1.57658097e-03 -6.13885312e+00] [-2.18377295e-02 7.76338042e-04 9.99761227e-01 -4.03330160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92439141799997 meters 0.030592248504610092 Centerline is valid? [True, True] Translation: X:184.43, Y:-6.15, Z:-4.03 [[ 9.99249603e-01 3.20794852e-02 2.17056856e-02 1.84432009e+02] [-3.20529321e-02 9.99484939e-01 -1.57021705e-03 -6.14809950e+00] [-2.17448776e-02 8.73307895e-04 9.99763171e-01 -4.03469189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98439141799997 meters 0.027907430921342676 Centerline is valid? [True, True] Translation: X:184.49, Y:-6.15, Z:-4.04 [[ 9.99323607e-01 2.96232648e-02 2.17897051e-02 1.84494666e+02] [-2.95959005e-02 9.99560701e-01 -1.57731554e-03 -6.14848907e+00] [-2.18268581e-02 9.31362711e-04 9.99761332e-01 -4.03575816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04439141799998 meters 0.03301286007457203 Centerline is valid? [True, True] Translation: X:184.56, Y:-6.16, Z:-4.04 [[ 9.99270224e-01 3.14031286e-02 2.17453947e-02 1.84555243e+02] [-3.13762582e-02 9.99506402e-01 -1.57585322e-03 -6.15946713e+00] [-2.17841479e-02 8.92414087e-04 9.99762299e-01 -4.03800137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10439141799998 meters 0.025787126925061944 Centerline is valid? [True, True] Translation: X:184.62, Y:-6.15, Z:-4.04 [[ 9.99116564e-01 3.64793924e-02 2.08649258e-02 1.84616720e+02] [-3.64556436e-02 9.99334120e-01 -1.51757246e-03 -6.15126027e+00] [-2.09063924e-02 7.55587487e-04 9.99781152e-01 -4.03909978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16439141799998 meters 0.022933879288726304 Centerline is valid? [True, True] Translation: X:184.68, Y:-6.15, Z:-4.04 [[ 9.98900149e-01 4.22882061e-02 2.02533971e-02 1.84677429e+02] [-4.22670111e-02 9.99105264e-01 -1.47360721e-03 -6.14832391e+00] [-2.02975918e-02 6.15935902e-04 9.99793793e-01 -4.04062762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22439141799998 meters 0.020171040874392355 Centerline is valid? [True, True] Translation: X:184.74, Y:-6.15, Z:-4.04 [[ 9.98713067e-01 4.73126281e-02 1.82681585e-02 1.84737129e+02] [-4.72962219e-02 9.98880023e-01 -1.32931667e-03 -6.14576517e+00] [-1.83105920e-02 4.63591054e-04 9.99832240e-01 -4.04345036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28439141799998 meters 0.018168570631652222 Centerline is valid? [True, True] Translation: X:184.80, Y:-6.14, Z:-4.05 [[ 9.98511536e-01 5.18464987e-02 1.69308236e-02 1.84796685e+02] [-5.18330631e-02 9.98655004e-01 -1.23171692e-03 -6.14352685e+00] [-1.69719119e-02 3.52307112e-04 9.99855905e-01 -4.04573321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344391418 meters 0.01773320039115629 Centerline is valid? [True, True] Translation: X:184.85, Y:-6.14, Z:-4.05 [[ 9.98381394e-01 5.48354233e-02 1.50886951e-02 1.84854654e+02] [-5.48251150e-02 9.98495371e-01 -1.09628616e-03 -6.14411818e+00] [-1.51261075e-02 2.67272265e-04 9.99885558e-01 -4.04760173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404391418 meters 0.01622711338474388 Centerline is valid? [True, True] Translation: X:184.91, Y:-6.14, Z:-4.05 [[ 9.98133044e-01 5.95338029e-02 1.36438102e-02 1.84914204e+02] [-5.95258320e-02 9.98226275e-01 -9.89933287e-04 -6.14106343e+00] [-1.36785443e-02 1.75925974e-04 9.99906429e-01 -4.04894162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464391418 meters 0.01572848767386301 Centerline is valid? [True, True] Translation: X:184.97, Y:-6.14, Z:-4.05 [[ 9.97986802e-01 6.19203236e-02 1.37191737e-02 1.84972907e+02] [-6.19125051e-02 9.98081085e-01 -9.94286900e-04 -6.14171383e+00] [-1.37544143e-02 1.42896792e-04 9.99905393e-01 -4.04979773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524391418 meters 0.015473852956132563 Centerline is valid? [True, True] Translation: X:185.03, Y:-6.14, Z:-4.05 [[ 9.97863031e-01 6.37537520e-02 1.43119244e-02 1.85032126e+02] [-6.37454490e-02 9.97965653e-01 -1.03604529e-03 -6.14207720e+00] [-1.43488607e-02 1.21511243e-04 9.99897042e-01 -4.04996883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584391418 meters 0.015113698776060034 Centerline is valid? [True, True] Translation: X:185.09, Y:-6.15, Z:-4.05 [[ 9.97817939e-01 6.43709448e-02 1.46881720e-02 1.85090814e+02] [-6.43622843e-02 9.97926034e-01 -1.06206573e-03 -6.14507064e+00] [-1.47260754e-02 1.14383933e-04 9.99891559e-01 -4.04970130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64439141799997 meters 0.015614952024164328 Centerline is valid? [True, True] Translation: X:185.15, Y:-6.15, Z:-4.05 [[ 9.97858906e-01 6.37787093e-02 1.44872667e-02 1.85148384e+02] [-6.37702347e-02 9.97964058e-01 -1.04664052e-03 -6.15012951e+00] [-1.45245249e-02 1.20543167e-04 9.99894506e-01 -4.05165748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70439141799997 meters 0.016046692323864718 Centerline is valid? [True, True] Translation: X:185.21, Y:-6.16, Z:-4.05 [[ 9.97935742e-01 6.27023350e-02 1.38806418e-02 1.85207320e+02] [-6.26944763e-02 9.98032264e-01 -1.00100866e-03 -6.15646055e+00] [-1.39160939e-02 1.28702748e-04 9.99903158e-01 -4.05340601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76439141799997 meters 0.01583945213330455 Centerline is valid? [True, True] Translation: X:185.27, Y:-6.16, Z:-4.05 [[ 9.97976735e-01 6.21643800e-02 1.33426722e-02 1.85265375e+02] [-6.21570816e-02 9.98065916e-01 -9.61390392e-04 -6.16214651e+00] [-1.33766306e-02 1.30103679e-04 9.99910520e-01 -4.05390013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82439141799998 meters 0.016110635339323536 Centerline is valid? [True, True] Translation: X:185.32, Y:-6.17, Z:-4.06 [[ 9.98073672e-01 6.07966784e-02 1.23575660e-02 1.85322766e+02] [-6.07903267e-02 9.98150162e-01 -8.89318552e-04 -6.17045354e+00] [-1.23887741e-02 1.36384961e-04 9.99923247e-01 -4.05647638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88439141799998 meters 0.0162600667865181 Centerline is valid? [True, True] Translation: X:185.38, Y:-6.18, Z:-4.06 [[ 9.98213336e-01 5.87107675e-02 1.10986898e-02 1.85381012e+02] [-5.87055271e-02 9.98275025e-01 -7.97650440e-04 -6.17854401e+00] [-1.11263755e-02 1.44670872e-04 9.99938090e-01 -4.05810501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94439141799998 meters 0.016293444559484112 Centerline is valid? [True, True] Translation: X:185.44, Y:-6.18, Z:-4.06 [[ 9.98252337e-01 5.80314182e-02 1.11635695e-02 1.85439693e+02] [-5.80260837e-02 9.98314746e-01 -8.01423021e-04 -6.18441920e+00] [-1.11912638e-02 1.52244184e-04 9.99937364e-01 -4.05906939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00439141799998 meters 0.01632560845781577 Centerline is valid? [True, True] Translation: X:185.50, Y:-6.19, Z:-4.06 [[ 9.98279127e-01 5.75649830e-02 1.11829040e-02 1.85498469e+02] [-5.75596110e-02 9.98341749e-01 -8.01905255e-04 -6.19080516e+00] [-1.12105216e-02 1.56841673e-04 9.99937148e-01 -4.06013703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06439141799999 meters 0.016529097507800905 Centerline is valid? [True, True] Translation: X:185.56, Y:-6.20, Z:-4.06 [[ 9.98327955e-01 5.65750191e-02 1.18558796e-02 1.85556759e+02] [-5.65689238e-02 9.98398335e-01 -8.49101104e-04 -6.19722643e+00] [-1.18849284e-02 1.77007018e-04 9.99929356e-01 -4.06054524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124391418 meters 0.017519319996870945 Centerline is valid? [True, True] Translation: X:185.61, Y:-6.21, Z:-4.06 [[ 9.98502658e-01 5.30070322e-02 1.35165465e-02 1.85614681e+02] [-5.29988011e-02 9.98594108e-01 -9.66687349e-04 -6.20749176e+00] [-1.35487849e-02 2.48879130e-04 9.99908180e-01 -4.06071038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184391418 meters 0.019631008785323038 Centerline is valid? [True, True] Translation: X:185.67, Y:-6.22, Z:-4.06 [[ 9.98715687e-01 4.87147365e-02 1.39230059e-02 1.85672420e+02] [-4.87055999e-02 9.98812683e-01 -9.94757172e-04 -6.21733284e+00] [-1.39549342e-02 3.15351239e-04 9.99902575e-01 -4.06190746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244391418 meters 0.02332497505614699 Centerline is valid? [True, True] Translation: X:185.73, Y:-6.23, Z:-4.06 [[ 9.99069591e-01 4.05500035e-02 1.46849921e-02 1.85731915e+02] [-4.05389886e-02 9.99177409e-01 -1.04709686e-03 -6.23141148e+00] [-1.47153721e-02 4.50807905e-04 9.99891621e-01 -4.06374947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304391418 meters 0.02568042447520318 Centerline is valid? [True, True] Translation: X:185.79, Y:-6.24, Z:-4.07 [[ 9.99273799e-01 3.53631454e-02 1.41888206e-02 1.85791895e+02] [-3.53523459e-02 9.99374399e-01 -1.01130427e-03 -6.24112400e+00] [-1.42157070e-02 5.08961766e-04 9.99898822e-01 -4.06569862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364391418 meters 0.02914773810555986 Centerline is valid? [True, True] Translation: X:185.85, Y:-6.25, Z:-4.07 [[ 9.99480958e-01 2.91323251e-02 1.37521838e-02 1.85851935e+02] [-2.91215916e-02 9.99575396e-01 -9.80147331e-04 -6.25193874e+00] [-1.37748985e-02 5.79153113e-04 9.99904954e-01 -4.06840719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42439141799997 meters 0.03170492159537896 Centerline is valid? [True, True] Translation: X:185.91, Y:-6.26, Z:-4.07 [[ 9.99581653e-01 2.52693342e-02 1.40705000e-02 1.85912616e+02] [-2.52577167e-02 9.99680470e-01 -1.00277736e-03 -6.25997985e+00] [-1.40913436e-02 6.46969143e-04 9.99900503e-01 -4.06968860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48439141799997 meters 0.03425072199445559 Centerline is valid? [True, True] Translation: X:185.97, Y:-6.27, Z:-4.07 [[ 9.99593226e-01 2.42229714e-02 1.50542360e-02 1.85973163e+02] [-2.42095734e-02 9.99706331e-01 -1.07161462e-03 -6.26708067e+00] [-1.50757727e-02 7.06722086e-04 9.99886104e-01 -4.07069170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54439141799998 meters 0.03426432979643009 Centerline is valid? [True, True] Translation: X:186.04, Y:-6.27, Z:-4.07 [[ 9.99572884e-01 2.47036243e-02 1.56134583e-02 1.86035785e+02] [-2.46892082e-02 9.99694553e-01 -1.11542064e-03 -6.26918842e+00] [-1.56362441e-02 7.29460305e-04 9.99877480e-01 -4.07162253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60439141799998 meters 0.03122586291104621 Centerline is valid? [True, True] Translation: X:186.10, Y:-6.27, Z:-4.07 [[ 9.99555316e-01 2.52932852e-02 1.57930646e-02 1.86098827e+02] [-2.52785301e-02 9.99679805e-01 -1.13323850e-03 -6.26696624e+00] [-1.58166711e-02 7.33509111e-04 9.99874640e-01 -4.07254442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66439141799998 meters 0.03169128239110802 Centerline is valid? [True, True] Translation: X:186.16, Y:-6.27, Z:-4.08 [[ 9.99554313e-01 2.55497193e-02 1.54397698e-02 1.86160851e+02] [-2.55356265e-02 9.99673297e-01 -1.10924355e-03 -6.26875410e+00] [-1.54630665e-02 7.14484974e-04 9.99880184e-01 -4.07500123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72439141799998 meters 0.029148597995695948 Centerline is valid? [True, True] Translation: X:186.22, Y:-6.27, Z:-4.08 [[ 9.99528558e-01 2.61418719e-02 1.61017059e-02 1.86223224e+02] [-2.61265465e-02 9.99657969e-01 -1.16144180e-03 -6.26645695e+00] [-1.61265609e-02 7.40212276e-04 9.99869685e-01 -4.07502474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78439141799998 meters 0.03414322218767546 Centerline is valid? [True, True] Translation: X:186.28, Y:-6.27, Z:-4.08 [[ 9.99490591e-01 2.73724983e-02 1.64105197e-02 1.86283746e+02] [-2.73566626e-02 9.99625030e-01 -1.18872020e-03 -6.27409308e+00] [-1.64369045e-02 7.39177602e-04 9.99864632e-01 -4.07693902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844391418 meters 0.02795167284845204 Centerline is valid? [True, True] Translation: X:186.35, Y:-6.26, Z:-4.08 [[ 9.99349566e-01 3.18377762e-02 1.69351984e-02 1.86345517e+02] [-3.18214517e-02 9.99492809e-01 -1.23260403e-03 -6.26433436e+00] [-1.69658524e-02 6.92899702e-04 9.99855829e-01 -4.07781845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904391418 meters 0.025097188506141583 Centerline is valid? [True, True] Translation: X:186.41, Y:-6.26, Z:-4.08 [[ 9.99172183e-01 3.67868619e-02 1.73687958e-02 1.86406448e+02] [-3.67704293e-02 9.99322939e-01 -1.26461572e-03 -6.26015668e+00] [-1.74035573e-02 6.24910770e-04 9.99848351e-01 -4.07877205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964391418 meters 0.021205210734836007 Centerline is valid? [True, True] Translation: X:186.47, Y:-6.25, Z:-4.08 [[ 9.98772041e-01 4.63901004e-02 1.73887690e-02 1.86467694e+02] [-4.63750829e-02 9.98923295e-01 -1.26608852e-03 -6.25120266e+00] [-1.74287804e-02 4.58128207e-04 9.99848002e-01 -4.07981744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024391418 meters 0.0180043037072307 Centerline is valid? [True, True] Translation: X:186.53, Y:-6.24, Z:-4.08 [[ 9.98342961e-01 5.49486301e-02 1.70874122e-02 1.86528161e+02] [-5.49353808e-02 9.98489137e-01 -1.24415699e-03 -6.24405989e+00] [-1.71299601e-02 3.03391880e-04 9.99853225e-01 -4.08108139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084391418 meters 0.01665086499685072 Centerline is valid? [True, True] Translation: X:186.59, Y:-6.24, Z:-4.08 [[ 9.98159863e-01 5.81483382e-02 1.71947524e-02 1.86587087e+02] [-5.81353974e-02 9.98307923e-01 -1.25191982e-03 -6.24327352e+00] [-1.72384546e-02 2.49992354e-04 9.99851376e-01 -4.08176230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14439141799997 meters 0.01649831227424798 Centerline is valid? [True, True] Translation: X:186.65, Y:-6.25, Z:-4.08 [[ 9.98149316e-01 5.85949541e-02 1.62657147e-02 1.86645338e+02] [-5.85834496e-02 9.98281814e-01 -1.18327939e-03 -6.24615379e+00] [-1.63071013e-02 2.28187844e-04 9.99867004e-01 -4.08338188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20439141799997 meters 0.01678590196643531 Centerline is valid? [True, True] Translation: X:186.70, Y:-6.25, Z:-4.09 [[ 9.98288893e-01 5.62969881e-02 1.58093183e-02 1.86703791e+02] [-5.62858645e-02 9.98414034e-01 -1.14802948e-03 -6.25174209e+00] [-1.58488759e-02 2.56223932e-04 9.99874366e-01 -4.08505938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26439141799997 meters 0.019417812396476136 Centerline is valid? [True, True] Translation: X:186.76, Y:-6.26, Z:-4.09 [[ 9.98609765e-01 5.05011857e-02 1.51051827e-02 1.86761270e+02] [-5.04903855e-02 9.98723946e-01 -1.09574609e-03 -6.26223171e+00] [-1.51412441e-02 3.31556249e-04 9.99885310e-01 -4.08755999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32439141799998 meters 0.022264823131623465 Centerline is valid? [True, True] Translation: X:186.82, Y:-6.27, Z:-4.09 [[ 9.98896754e-01 4.44659864e-02 1.51013701e-02 1.86820368e+02] [-4.44545247e-02 9.99010810e-01 -1.09399052e-03 -6.27275198e+00] [-1.51350773e-02 4.21459355e-04 9.99885369e-01 -4.08832724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38439141799998 meters 0.024019895866678964 Centerline is valid? [True, True] Translation: X:186.88, Y:-6.28, Z:-4.09 [[ 9.99054988e-01 4.08463354e-02 1.48562565e-02 1.86879881e+02] [-4.08348512e-02 9.99165331e-01 -1.07567257e-03 -6.28020765e+00] [-1.48877937e-02 4.68003027e-04 9.99889061e-01 -4.09029556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44439141799998 meters 0.025486294124774142 Centerline is valid? [True, True] Translation: X:186.94, Y:-6.29, Z:-4.09 [[ 9.99213936e-01 3.69069756e-02 1.44701837e-02 1.86939281e+02] [-3.68956757e-02 9.99318574e-01 -1.04717917e-03 -6.28743149e+00] [-1.44989716e-02 5.12468808e-04 9.99894753e-01 -4.09163154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50439141799998 meters 0.025532151528139303 Centerline is valid? [True, True] Translation: X:187.00, Y:-6.29, Z:-4.09 [[ 9.99278897e-01 3.52700652e-02 1.40609053e-02 1.86998553e+02] [-3.52592411e-02 9.99377682e-01 -1.01703381e-03 -6.29244205e+00] [-1.40880258e-02 5.20523571e-04 9.99900623e-01 -4.09297489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56439141799999 meters 0.02789401297192388 Centerline is valid? [True, True] Translation: X:187.06, Y:-6.30, Z:-4.10 [[ 9.99314026e-01 3.46203588e-02 1.31494440e-02 1.87057237e+02] [-3.46108405e-02 9.99400413e-01 -9.50803039e-04 -6.29950626e+00] [-1.31744769e-02 4.95037504e-04 9.99913090e-01 -4.09507538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624391418 meters 0.024851189274439602 Centerline is valid? [True, True] Translation: X:187.12, Y:-6.30, Z:-4.10 [[ 9.99214975e-01 3.76058031e-02 1.24594653e-02 1.87117059e+02] [-3.75975000e-02 9.99292559e-01 -9.00052533e-04 -6.29761907e+00] [-1.24844981e-02 4.30901224e-04 9.99921973e-01 -4.09549746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684391418 meters 0.02286533774782692 Centerline is valid? [True, True] Translation: X:187.18, Y:-6.30, Z:-4.10 [[ 9.99039697e-01 4.18656640e-02 1.29209051e-02 1.87177327e+02] [-4.18570997e-02 9.99123172e-01 -9.32661287e-04 -6.29684022e+00] [-1.29486221e-02 3.90934038e-04 9.99916087e-01 -4.09594718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744391418 meters 0.018776675821484286 Centerline is valid? [True, True] Translation: X:187.24, Y:-6.29, Z:-4.10 [[ 9.98663759e-01 4.96660128e-02 1.42822776e-02 1.87237970e+02] [-4.96563500e-02 9.98765831e-01 -1.03060330e-03 -6.29165909e+00] [-1.43158368e-02 3.20020392e-04 9.99897472e-01 -4.09523459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804391418 meters 0.01772418091290268 Centerline is valid? [True, True] Translation: X:187.30, Y:-6.29, Z:-4.10 [[ 9.98418350e-01 5.45129497e-02 1.37526961e-02 1.87295551e+02] [-5.45044444e-02 9.98513034e-01 -9.92782061e-04 -6.29177223e+00] [-1.37863658e-02 2.41628767e-04 9.99904934e-01 -4.09786293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864391418 meters 0.01648605048146288 Centerline is valid? [True, True] Translation: X:187.35, Y:-6.29, Z:-4.10 [[ 9.98205481e-01 5.87642832e-02 1.15141539e-02 1.87354769e+02] [-5.87586158e-02 9.98271875e-01 -8.30179341e-04 -6.28993813e+00] [-1.15430409e-02 1.52133821e-04 9.99933365e-01 -4.10163759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92439141799997 meters 0.016366393957626017 Centerline is valid? [True, True] Translation: X:187.41, Y:-6.29, Z:-4.10 [[ 9.98183169e-01 5.92898669e-02 1.07272064e-02 1.87412761e+02] [-5.92849812e-02 9.98240799e-01 -7.73147266e-04 -6.29304453e+00] [-1.07541749e-02 1.35780357e-04 9.99942163e-01 -4.10352986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98439141799997 meters 0.016812802622332937 Centerline is valid? [True, True] Translation: X:187.47, Y:-6.30, Z:-4.11 [[ 9.98272457e-01 5.77973209e-02 1.05626915e-02 1.87470627e+02] [-5.77925161e-02 9.98328327e-01 -7.59808836e-04 -6.29793177e+00] [-1.05889490e-02 1.48051716e-04 9.99943925e-01 -4.10535571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04439141799998 meters 0.017359659325911176 Centerline is valid? [True, True] Translation: X:187.53, Y:-6.30, Z:-4.10 [[ 9.98379086e-01 5.54005071e-02 1.30378301e-02 1.87529025e+02] [-5.53930078e-02 9.98464190e-01 -9.35885194e-04 -6.30228629e+00] [-1.30696549e-02 2.12163582e-04 9.99914566e-01 -4.10377795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10439141799998 meters 0.018018166074581836 Centerline is valid? [True, True] Translation: X:187.59, Y:-6.31, Z:-4.10 [[ 9.98468175e-01 5.35169511e-02 1.40442206e-02 1.87587106e+02] [-5.35080762e-02 9.98566909e-01 -1.00719489e-03 -6.30740286e+00] [-1.40779960e-02 2.54172815e-04 9.99900868e-01 -4.10386416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16439141799998 meters 0.020607818720283028 Centerline is valid? [True, True] Translation: X:187.64, Y:-6.32, Z:-4.11 [[ 9.98729923e-01 4.81481144e-02 1.48425248e-02 1.87644945e+02] [-4.81376432e-02 9.98840147e-01 -1.06215204e-03 -6.31628847e+00] [-1.48764503e-02 3.46318861e-04 9.99889280e-01 -4.10533018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22439141799998 meters 0.023897444730195935 Centerline is valid? [True, True] Translation: X:187.71, Y:-6.33, Z:-4.11 [[ 9.99023581e-01 4.12408088e-02 1.58454931e-02 1.87705086e+02] [-4.12280295e-02 9.99149122e-01 -1.13245112e-03 -6.32655908e+00] [-1.58787137e-02 4.78066919e-04 9.99873811e-01 -4.10613352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28439141799998 meters 0.0280863530785095 Centerline is valid? [True, True] Translation: X:187.76, Y:-6.34, Z:-4.11 [[ 9.99213416e-01 3.63851374e-02 1.57693059e-02 1.87763028e+02] [-3.63718710e-02 9.99337689e-01 -1.12735532e-03 -6.33747668e+00] [-1.57998807e-02 5.52909402e-04 9.99875021e-01 -4.10791473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344391418 meters 0.03244478599029113 Centerline is valid? [True, True] Translation: X:187.82, Y:-6.35, Z:-4.11 [[ 9.99464066e-01 2.90597571e-02 1.50701952e-02 1.87823169e+02] [-2.90468268e-02 9.99577473e-01 -1.07622917e-03 -6.34795734e+00] [-1.50951026e-02 6.37911032e-04 9.99885859e-01 -4.11010383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404391418 meters 0.03131869848750877 Centerline is valid? [True, True] Translation: X:187.88, Y:-6.35, Z:-4.11 [[ 9.99581089e-01 2.51945991e-02 1.42435345e-02 1.87883040e+02] [-2.51826561e-02 9.99682349e-01 -1.01724873e-03 -6.35009057e+00] [-1.42646392e-02 6.58132560e-04 9.99898038e-01 -4.11131627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464391418 meters 0.03488893858506803 Centerline is valid? [True, True] Translation: X:187.94, Y:-6.36, Z:-4.11 [[ 9.99645777e-01 2.24444317e-02 1.43027002e-02 1.87942829e+02] [-2.24321167e-02 9.99747847e-01 -1.02088793e-03 -6.35728205e+00] [-1.43220070e-02 6.99686465e-04 9.99897190e-01 -4.11305590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524391418 meters 0.031611188286556666 Centerline is valid? [True, True] Translation: X:188.00, Y:-6.36, Z:-4.11 [[ 9.99647691e-01 2.18692151e-02 1.50409867e-02 1.88004191e+02] [-2.18555285e-02 9.99760563e-01 -1.07375153e-03 -6.35530315e+00] [-1.50608674e-02 7.44644525e-04 9.99886301e-01 -4.11322573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584391418 meters 0.03366254164591706 Centerline is valid? [True, True] Translation: X:188.06, Y:-6.36, Z:-4.11 [[ 9.99643204e-01 2.15686744e-02 1.57561815e-02 1.88064968e+02] [-2.15536286e-02 9.99767062e-01 -1.12412360e-03 -6.35956747e+00] [-1.57767572e-02 7.84119629e-04 9.99875232e-01 -4.11364653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64439141799997 meters 0.035326191471428375 Centerline is valid? [True, True] Translation: X:188.13, Y:-6.36, Z:-4.12 [[ 9.99669394e-01 2.03079326e-02 1.57699313e-02 1.88127019e+02] [-2.02926406e-02 9.99793446e-01 -1.12912457e-03 -6.36371349e+00] [-1.57896041e-02 8.08737731e-04 9.99875009e-01 -4.11555405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70439141799997 meters 0.03449371872853309 Centerline is valid? [True, True] Translation: X:188.19, Y:-6.37, Z:-4.12 [[ 9.99703439e-01 1.91608690e-02 1.50298045e-02 1.88189483e+02] [-1.91467927e-02 9.99816100e-01 -1.07990778e-03 -6.36575216e+00] [-1.50477324e-02 7.91814970e-04 9.99886463e-01 -4.11718684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76439141799997 meters 0.03443371994617395 Centerline is valid? [True, True] Translation: X:188.25, Y:-6.37, Z:-4.12 [[ 9.99705988e-01 1.93835744e-02 1.45675941e-02 1.88251682e+02] [-1.93703175e-02 9.99811826e-01 -1.05058350e-03 -6.36862168e+00] [-1.45852170e-02 7.68095691e-04 9.99893335e-01 -4.11902178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82439141799998 meters 0.033673751617848365 Centerline is valid? [True, True] Translation: X:188.31, Y:-6.37, Z:-4.12 [[ 9.99622365e-01 2.35483899e-02 1.41633545e-02 1.88311887e+02] [-2.35361906e-02 9.99722458e-01 -1.02741693e-03 -6.36722058e+00] [-1.41836175e-02 6.93677526e-04 9.99899167e-01 -4.12120080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88439141799998 meters 0.027316713567576548 Centerline is valid? [True, True] Translation: X:188.37, Y:-6.36, Z:-4.12 [[ 9.99319585e-01 3.37518180e-02 1.48721786e-02 1.88373955e+02] [-3.37394951e-02 9.99430079e-01 -1.07878236e-03 -6.35685996e+00] [-1.49001135e-02 5.76268542e-04 9.99888821e-01 -4.12125457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94439141799998 meters 0.021240186517457776 Centerline is valid? [True, True] Translation: X:188.44, Y:-6.35, Z:-4.12 [[ 9.98810560e-01 4.61267924e-02 1.58045935e-02 1.88435191e+02] [-4.61144155e-02 9.98935506e-01 -1.14685275e-03 -6.34583166e+00] [-1.58406702e-02 4.16669047e-04 9.99874442e-01 -4.12126367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00439141799998 meters 0.016874189853173596 Centerline is valid? [True, True] Translation: X:188.50, Y:-6.34, Z:-4.12 [[ 9.98293258e-01 5.62435723e-02 1.57235854e-02 1.88495973e+02] [-5.62325882e-02 9.98417045e-01 -1.14017208e-03 -6.33710912e+00] [-1.57628230e-02 2.54048205e-04 9.99875727e-01 -4.12272948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06439141799999 meters 0.015797213407500302 Centerline is valid? [True, True] Translation: X:188.56, Y:-6.34, Z:-4.13 [[ 9.98070254e-01 6.03887796e-02 1.44555632e-02 1.88555007e+02] [-6.03799275e-02 9.98174917e-01 -1.04841889e-03 -6.33609874e+00] [-1.44924934e-02 1.73569852e-04 9.99894963e-01 -4.12530348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124391418 meters 0.015514292646365137 Centerline is valid? [True, True] Translation: X:188.61, Y:-6.34, Z:-4.13 [[ 9.97969275e-01 6.21201530e-02 1.40858919e-02 1.88614343e+02] [-6.21119354e-02 9.98068668e-01 -1.02053294e-03 -6.33681051e+00] [-1.41220831e-02 1.43558505e-04 9.99900268e-01 -4.12738007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184391418 meters 0.015805014512494598 Centerline is valid? [True, True] Translation: X:188.67, Y:-6.34, Z:-4.13 [[ 9.98052541e-01 6.06728777e-02 1.44888703e-02 1.88672060e+02] [-6.06640414e-02 9.98157690e-01 -1.04899709e-03 -6.34122312e+00] [-1.45258229e-02 1.68000783e-04 9.99894481e-01 -4.12803813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244391418 meters 0.01667441818523401 Centerline is valid? [True, True] Translation: X:188.73, Y:-6.35, Z:-4.13 [[ 9.98322373e-01 5.58884962e-02 1.51299637e-02 1.88730341e+02] [-5.58783501e-02 9.98436986e-01 -1.09283965e-03 -6.34758241e+00] [-1.51673926e-02 2.45568861e-04 9.99884938e-01 -4.12858317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304391418 meters 0.019659863013205936 Centerline is valid? [True, True] Translation: X:188.79, Y:-6.36, Z:-4.13 [[ 9.98559328e-01 5.15253619e-02 1.49801598e-02 1.88786905e+02] [-5.15149388e-02 9.98671639e-01 -1.08109636e-03 -6.35797642e+00] [-1.50159647e-02 3.07836837e-04 9.99887207e-01 -4.13135465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364391418 meters 0.02058251161187094 Centerline is valid? [True, True] Translation: X:188.85, Y:-6.37, Z:-4.13 [[ 9.98832418e-01 4.60532950e-02 1.45909280e-02 1.88845443e+02] [-4.60428514e-02 9.98938913e-01 -1.05105139e-03 -6.36605951e+00] [-1.46238501e-02 3.78016275e-04 9.99892994e-01 -4.13233510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42439141799997 meters 0.022424369622031783 Centerline is valid? [True, True] Translation: X:188.90, Y:-6.37, Z:-4.13 [[ 9.98956672e-01 4.30855736e-02 1.51393884e-02 1.88903672e+02] [-4.30740095e-02 9.99071290e-01 -1.08923806e-03 -6.37472190e+00] [-1.51722588e-02 4.35987467e-04 9.99884800e-01 -4.13366137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48439141799997 meters 0.023875202365134206 Centerline is valid? [True, True] Translation: X:188.96, Y:-6.38, Z:-4.14 [[ 9.99117025e-01 3.93595519e-02 1.46967887e-02 1.88963111e+02] [-3.93482717e-02 9.99224999e-01 -1.05601904e-03 -6.38291687e+00] [-1.47269631e-02 4.76793369e-04 9.99891439e-01 -4.13536698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54439141799998 meters 0.025420505719433727 Centerline is valid? [True, True] Translation: X:189.02, Y:-6.39, Z:-4.14 [[ 9.99200471e-01 3.70408207e-02 1.50464653e-02 1.89021246e+02] [-3.70287399e-02 9.99313617e-01 -1.08080056e-03 -6.39115539e+00] [-1.50761714e-02 5.22784780e-04 9.99886211e-01 -4.13700623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60439141799998 meters 0.02512416555882727 Centerline is valid? [True, True] Translation: X:189.08, Y:-6.40, Z:-4.14 [[ 9.99188315e-01 3.69522099e-02 1.60388975e-02 1.89079977e+02] [-3.69384931e-02 9.99316878e-01 -1.15072985e-03 -6.39630522e+00] [-1.60704630e-02 5.57343116e-04 9.99870706e-01 -4.13746385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66439141799998 meters 0.024213952852564467 Centerline is valid? [True, True] Translation: X:189.14, Y:-6.40, Z:-4.14 [[ 9.99047064e-01 3.98165013e-02 1.78776332e-02 1.89138543e+02] [-3.97999457e-02 9.99206847e-01 -1.28103709e-03 -6.40095539e+00] [-1.79144599e-02 5.68287516e-04 9.99839362e-01 -4.13710222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72439141799998 meters 0.022415094383826637 Centerline is valid? [True, True] Translation: X:189.20, Y:-6.40, Z:-4.14 [[ 9.98915988e-01 4.30332761e-02 1.77478339e-02 1.89197732e+02] [-4.30174930e-02 9.99073512e-01 -1.27028528e-03 -6.40338349e+00] [-1.77860553e-02 5.05440953e-04 9.99841688e-01 -4.13857083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78439141799998 meters 0.021110885012743243 Centerline is valid? [True, True] Translation: X:189.26, Y:-6.41, Z:-4.14 [[ 9.98812454e-01 4.59528766e-02 1.61868999e-02 1.89255998e+02] [-4.59401426e-02 9.98943523e-01 -1.15784042e-03 -6.40694018e+00] [-1.62230049e-02 4.12836940e-04 9.99868313e-01 -4.14219980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844391418 meters 0.021822679219980132 Centerline is valid? [True, True] Translation: X:189.31, Y:-6.41, Z:-4.15 [[ 9.98739872e-01 4.81587976e-02 1.41208311e-02 1.89313231e+02] [-4.81493379e-02 9.98839638e-01 -1.00931764e-03 -6.41417733e+00] [-1.41530534e-02 3.28137104e-04 9.99899787e-01 -4.14732121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904391418 meters 0.018837936585460815 Centerline is valid? [True, True] Translation: X:189.37, Y:-6.42, Z:-4.15 [[ 9.98698486e-01 4.92371418e-02 1.33055725e-02 1.89371944e+02] [-4.92288555e-02 9.98787073e-01 -9.49771307e-04 -6.41559195e+00] [-1.33361978e-02 2.93517061e-04 9.99911026e-01 -4.14785949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964391418 meters 0.018466398687251483 Centerline is valid? [True, True] Translation: X:189.43, Y:-6.42, Z:-4.15 [[ 9.98633703e-01 5.03214341e-02 1.40882891e-02 1.89430992e+02] [-5.03122696e-02 9.98733031e-01 -1.00440024e-03 -6.41956062e+00] [-1.41209825e-02 2.94214133e-04 9.99900251e-01 -4.14779152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024391418 meters 0.017902117484565015 Centerline is valid? [True, True] Translation: X:189.49, Y:-6.42, Z:-4.15 [[ 9.98496931e-01 5.26436231e-02 1.52488564e-02 1.89488693e+02] [-5.26331762e-02 9.98613323e-01 -1.08588551e-03 -6.42416776e+00] [-1.52848761e-02 2.81657606e-04 9.99883140e-01 -4.14796706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084391418 meters 0.017726903553698572 Centerline is valid? [True, True] Translation: X:189.55, Y:-6.43, Z:-4.15 [[ 9.98410059e-01 5.39480892e-02 1.63388666e-02 1.89545903e+02] [-5.39362991e-02 9.98543703e-01 -1.16171774e-03 -6.42949484e+00] [-1.63777448e-02 2.78612678e-04 9.99865837e-01 -4.14912561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14439141799997 meters 0.017126913858928432 Centerline is valid? [True, True] Translation: X:189.60, Y:-6.43, Z:-4.15 [[ 9.98425477e-01 5.34115855e-02 1.71397275e-02 1.89604512e+02] [-5.33985638e-02 9.98572538e-01 -1.21681719e-03 -6.43335669e+00] [-1.71802533e-02 2.99664451e-04 9.99852364e-01 -4.14902082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20439141799997 meters 0.01799407381570513 Centerline is valid? [True, True] Translation: X:189.66, Y:-6.44, Z:-4.15 [[ 9.98514508e-01 5.13134596e-02 1.83222810e-02 1.89662088e+02] [-5.12982542e-02 9.98682533e-01 -1.29922176e-03 -6.44213840e+00] [-1.83648095e-02 3.57390745e-04 9.99831289e-01 -4.14961993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26439141799997 meters 0.018976149388448584 Centerline is valid? [True, True] Translation: X:189.72, Y:-6.45, Z:-4.15 [[ 9.98603223e-01 4.92799968e-02 1.90547669e-02 1.89719315e+02] [-4.92632194e-02 9.98784919e-01 -1.34915941e-03 -6.45132877e+00] [-1.90981004e-02 4.08575777e-04 9.99817531e-01 -4.15036883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32439141799998 meters 0.01956363837223817 Centerline is valid? [True, True] Translation: X:189.78, Y:-6.46, Z:-4.15 [[ 9.98674617e-01 4.81086656e-02 1.82911109e-02 1.89777537e+02] [-4.80930426e-02 9.98842023e-01 -1.29330094e-03 -6.45847012e+00] [-1.83321492e-02 4.11911638e-04 9.99831867e-01 -4.15218138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38439141799998 meters 0.020280787717149522 Centerline is valid? [True, True] Translation: X:189.84, Y:-6.47, Z:-4.15 [[ 9.98773576e-01 4.64430976e-02 1.71575669e-02 1.89835831e+02] [-4.64291267e-02 9.98920851e-01 -1.21192437e-03 -6.46733104e+00] [-1.71953369e-02 4.13827189e-04 9.99852064e-01 -4.15499391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44439141799998 meters 0.021096743142590236 Centerline is valid? [True, True] Translation: X:189.89, Y:-6.48, Z:-4.16 [[ 9.98830015e-01 4.54607625e-02 1.64900061e-02 1.89894099e+02] [-4.54477441e-02 9.98966040e-01 -1.16354951e-03 -6.47551977e+00] [-1.65258519e-02 4.12754601e-04 9.99863354e-01 -4.15722152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50439141799998 meters 0.022255121738027298 Centerline is valid? [True, True] Translation: X:189.95, Y:-6.48, Z:-4.16 [[ 9.98913318e-01 4.36236354e-02 1.64061162e-02 1.89952514e+02] [-4.36105222e-02 9.99047939e-01 -1.15637539e-03 -6.48489786e+00] [-1.64409419e-02 4.39639486e-04 9.99864742e-01 -4.15852230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56439141799999 meters 0.024076275327619842 Centerline is valid? [True, True] Translation: X:190.01, Y:-6.50, Z:-4.16 [[ 9.98996077e-01 4.15217029e-02 1.68162599e-02 1.90010340e+02] [-4.15076528e-02 9.99137485e-01 -1.18382530e-03 -6.49512695e+00] [-1.68509100e-02 4.84633356e-04 9.99857896e-01 -4.15938510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624391418 meters 0.02247016000187688 Centerline is valid? [True, True] Translation: X:190.07, Y:-6.50, Z:-4.16 [[ 9.99076446e-01 3.92459807e-02 1.74930941e-02 1.90069710e+02] [-3.92304444e-02 9.99229432e-01 -1.23054789e-03 -6.49957667e+00] [-1.75279086e-02 5.43149557e-04 9.99846227e-01 -4.15930101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684391418 meters 0.023871131458849962 Centerline is valid? [True, True] Translation: X:190.13, Y:-6.51, Z:-4.16 [[ 9.99201026e-01 3.58040493e-02 1.77589374e-02 1.90129157e+02] [-3.57875070e-02 9.99358642e-01 -1.24851919e-03 -6.50838976e+00] [-1.77922496e-02 6.11973559e-04 9.99841518e-01 -4.15973434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744391418 meters 0.029444488129868215 Centerline is valid? [True, True] Translation: X:190.19, Y:-6.52, Z:-4.16 [[ 9.99301291e-01 3.29134257e-02 1.77097895e-02 1.90187562e+02] [-3.28965358e-02 9.99457988e-01 -1.24425629e-03 -6.52344133e+00] [-1.77411433e-02 6.60796191e-04 9.99842395e-01 -4.16188056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804391418 meters 0.02642823286245353 Centerline is valid? [True, True] Translation: X:190.25, Y:-6.53, Z:-4.16 [[ 9.99362806e-01 3.09877227e-02 1.77128049e-02 1.90248468e+02] [-3.09705390e-02 9.99519524e-01 -1.24367950e-03 -6.52538527e+00] [-1.77428331e-02 6.94311920e-04 9.99842342e-01 -4.16331747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86439141799997 meters 0.028489957707371276 Centerline is valid? [True, True] Translation: X:190.31, Y:-6.53, Z:-4.17 [[ 9.99420806e-01 2.97818130e-02 1.64650242e-02 1.90307878e+02] [-2.97667763e-02 9.99556201e-01 -1.15762208e-03 -6.53455618e+00] [-1.64921932e-02 6.66840900e-04 9.99863772e-01 -4.16647225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92439141799997 meters 0.028838189148534338 Centerline is valid? [True, True] Translation: X:190.37, Y:-6.54, Z:-4.17 [[ 9.99389845e-01 3.11826073e-02 1.57347903e-02 1.90368355e+02] [-3.11690522e-02 9.99513515e-01 -1.10603457e-03 -6.53851868e+00] [-1.57616246e-02 6.14921216e-04 9.99875589e-01 -4.16850385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98439141799997 meters 0.02713570244087406 Centerline is valid? [True, True] Translation: X:190.43, Y:-6.54, Z:-4.17 [[ 9.99323303e-01 3.29379630e-02 1.63714981e-02 1.90428892e+02] [-3.29234838e-02 9.99457210e-01 -1.15322402e-03 -6.53928330e+00] [-1.64005967e-02 6.13436885e-04 9.99865313e-01 -4.16913101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04439141799998 meters 0.024419859173480506 Centerline is valid? [True, True] Translation: X:190.49, Y:-6.54, Z:-4.17 [[ 9.99247444e-01 3.49701373e-02 1.67819713e-02 1.90489115e+02] [-3.49552054e-02 9.99388181e-01 -1.18235146e-03 -6.53779255e+00] [-1.68130508e-02 5.94844424e-04 9.99858474e-01 -4.16930255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10439141799998 meters 0.02421187481650975 Centerline is valid? [True, True] Translation: X:190.55, Y:-6.54, Z:-4.17 [[ 9.99228504e-01 3.54409868e-02 1.69213614e-02 1.90549051e+02] [-3.54258852e-02 9.99371596e-01 -1.19147126e-03 -6.54059790e+00] [-1.69529548e-02 5.91097845e-04 9.99856114e-01 -4.17011041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16439141799998 meters 0.024899477674092178 Centerline is valid? [True, True] Translation: X:190.61, Y:-6.54, Z:-4.17 [[ 9.99261345e-01 3.49784852e-02 1.59144884e-02 1.90608517e+02] [-3.49650784e-02 9.99387907e-01 -1.11997699e-03 -6.54450839e+00] [-1.59439223e-02 5.62698378e-04 9.99872729e-01 -4.17204784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22439141799998 meters 0.02445353730790269 Centerline is valid? [True, True] Translation: X:190.67, Y:-6.55, Z:-4.17 [[ 9.99258732e-01 3.53405721e-02 1.52653569e-02 1.90668098e+02] [-3.53282878e-02 9.99375184e-01 -1.07371740e-03 -6.54682492e+00] [-1.52937647e-02 5.33622563e-04 9.99882901e-01 -4.17294529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28439141799998 meters 0.024237560737196386 Centerline is valid? [True, True] Translation: X:190.73, Y:-6.55, Z:-4.17 [[ 9.99196019e-01 3.68869821e-02 1.57056217e-02 1.90727454e+02] [-3.68741802e-02 9.99319306e-01 -1.10401850e-03 -6.54978890e+00] [-1.57356549e-02 5.23998959e-04 9.99876050e-01 -4.17353332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344391418 meters 0.023255453533236006 Centerline is valid? [True, True] Translation: X:190.79, Y:-6.55, Z:-4.17 [[ 9.99100289e-01 3.89728619e-02 1.67251048e-02 1.90787093e+02] [-3.89586479e-02 9.99240133e-01 -1.17496071e-03 -6.55081356e+00] [-1.67581876e-02 5.22316116e-04 9.99859435e-01 -4.17393120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404391418 meters 0.020352903227119197 Centerline is valid? [True, True] Translation: X:190.85, Y:-6.55, Z:-4.17 [[ 9.98900423e-01 4.35645478e-02 1.73226798e-02 1.90847677e+02] [-4.35500007e-02 9.99050508e-01 -1.21629403e-03 -6.54725205e+00] [-1.73592194e-02 4.60553900e-04 9.99849211e-01 -4.17400009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464391418 meters 0.018377319219599925 Centerline is valid? [True, True] Translation: X:190.91, Y:-6.54, Z:-4.18 [[ 9.98627413e-01 4.95283256e-02 1.70363098e-02 1.90908267e+02] [-4.95151415e-02 9.98772658e-01 -1.19507886e-03 -6.54449164e+00] [-1.70745907e-02 3.49883221e-04 9.99854157e-01 -4.17570819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524391418 meters 0.016659276177263586 Centerline is valid? [True, True] Translation: X:190.97, Y:-6.54, Z:-4.18 [[ 9.98279255e-01 5.59249789e-02 1.76330748e-02 1.90967597e+02] [-5.59118540e-02 9.98434943e-01 -1.23683094e-03 -6.54086787e+00] [-1.76746478e-02 2.48804766e-04 9.99843760e-01 -4.17628246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584391418 meters 0.01582201155003642 Centerline is valid? [True, True] Translation: X:191.03, Y:-6.54, Z:-4.18 [[ 9.98099933e-01 5.90442704e-02 1.76152681e-02 1.91026468e+02] [-5.90316824e-02 9.98255347e-01 -1.23417908e-03 -6.54095972e+00] [-1.76574067e-02 1.91975150e-04 9.99844077e-01 -4.17746156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64439141799997 meters 0.015760202720689533 Centerline is valid? [True, True] Translation: X:191.08, Y:-6.54, Z:-4.18 [[ 9.98111220e-01 5.94371895e-02 1.55310395e-02 1.91083935e+02] [-5.94274662e-02 9.98232034e-01 -1.08723134e-03 -6.54417520e+00] [-1.55682032e-02 1.62207470e-04 9.99878795e-01 -4.18088916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70439141799997 meters 0.016013516170690478 Centerline is valid? [True, True] Translation: X:191.14, Y:-6.55, Z:-4.18 [[ 9.98162734e-01 5.87500303e-02 1.48185620e-02 1.91142858e+02] [-5.87411252e-02 9.98272712e-01 -1.03585546e-03 -6.54857066e+00] [-1.48538226e-02 1.63493310e-04 9.99889663e-01 -4.18293007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76439141799997 meters 0.017401923124180634 Centerline is valid? [True, True] Translation: X:191.20, Y:-6.56, Z:-4.19 [[ 9.98409741e-01 5.45473801e-02 1.42328022e-02 1.91199864e+02] [-5.45387512e-02 9.98511160e-01 -9.93992056e-04 -6.55678058e+00] [-1.42658315e-02 2.16172092e-04 9.99898214e-01 -4.18509537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82439141799998 meters 0.018293787226707953 Centerline is valid? [True, True] Translation: X:191.26, Y:-6.56, Z:-4.19 [[ 9.98588903e-01 5.12128097e-02 1.40517530e-02 1.91258368e+02] [-5.12040899e-02 9.98687730e-01 -9.79858275e-04 -6.56332468e+00] [-1.40834946e-02 2.58968378e-04 9.99900789e-01 -4.18580089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88439141799998 meters 0.019411977475102808 Centerline is valid? [True, True] Translation: X:191.32, Y:-6.57, Z:-4.19 [[ 9.98819186e-01 4.66643603e-02 1.35156096e-02 1.91317186e+02] [-4.66558923e-02 9.98910577e-01 -9.41336295e-04 -6.56985477e+00] [-1.35448122e-02 3.09641929e-04 9.99908217e-01 -4.18682191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94439141799998 meters 0.023014347074525487 Centerline is valid? [True, True] Translation: X:191.37, Y:-6.58, Z:-4.19 [[ 9.98969546e-01 4.35353373e-02 1.28265315e-02 1.91374159e+02] [-4.35274575e-02 9.99051832e-01 -8.92987097e-04 -6.57985602e+00] [-1.28532463e-02 3.33760610e-04 9.99917338e-01 -4.18972205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00439141799998 meters 0.02194581865304235 Centerline is valid? [True, True] Translation: X:191.43, Y:-6.58, Z:-4.19 [[ 9.99022826e-01 4.23317106e-02 1.27050581e-02 1.91432720e+02] [-4.23239006e-02 9.99103552e-01 -8.83083077e-04 -6.58172004e+00] [-1.27310511e-02 3.44492534e-04 9.99918898e-01 -4.19003124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06439141799999 meters 0.021675885196027894 Centerline is valid? [True, True] Translation: X:191.49, Y:-6.58, Z:-4.19 [[ 9.99032106e-01 4.21013270e-02 1.27408766e-02 1.91491747e+02] [-4.20934668e-02 9.99113286e-01 -8.84589395e-04 -6.58400753e+00] [-1.27668215e-02 3.47425538e-04 9.99918440e-01 -4.19058449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124391418 meters 0.02103214685376334 Centerline is valid? [True, True] Translation: X:191.55, Y:-6.59, Z:-4.19 [[ 9.98927131e-01 4.43340095e-02 1.33821780e-02 1.91550351e+02] [-4.43255538e-02 9.99016709e-01 -9.27950804e-04 -6.58548058e+00] [-1.34101592e-02 3.33782783e-04 9.99910024e-01 -4.19086031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184391418 meters 0.01929120266211049 Centerline is valid? [True, True] Translation: X:191.61, Y:-6.59, Z:-4.19 [[ 9.98769889e-01 4.76988360e-02 1.35472985e-02 1.91609233e+02] [-4.76904941e-02 9.98861720e-01 -9.38331181e-04 -6.58527782e+00] [-1.35766352e-02 2.91099571e-04 9.99907791e-01 -4.19145795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244391418 meters 0.01682213520605751 Centerline is valid? [True, True] Translation: X:191.67, Y:-6.58, Z:-4.19 [[ 9.98376084e-01 5.55991152e-02 1.24070068e-02 1.91668967e+02] [-5.55927411e-02 9.98453159e-01 -8.58307058e-04 -6.58179830e+00] [-1.24355363e-02 1.67173720e-04 9.99922662e-01 -4.19383570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304391418 meters 0.015124752825533168 Centerline is valid? [True, True] Translation: X:191.73, Y:-6.58, Z:-4.19 [[ 9.97833530e-01 6.47491666e-02 1.16529928e-02 1.91728390e+02] [-6.47441715e-02 9.97901570e-01 -8.05786491e-04 -6.57712565e+00] [-1.16807138e-02 4.95774125e-05 9.99931777e-01 -4.19471709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36439141799997 meters 0.015069047046445806 Centerline is valid? [True, True] Translation: X:191.79, Y:-6.58, Z:-4.20 [[ 9.97485106e-01 7.00175143e-02 1.10004765e-02 1.91786270e+02] [-7.00133870e-02 9.97545762e-01 -7.60328024e-04 -6.57699216e+00] [-1.10267150e-02 -1.17647407e-05 9.99939204e-01 -4.19610043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42439141799997 meters 0.01595768686764407 Centerline is valid? [True, True] Translation: X:191.84, Y:-6.58, Z:-4.20 [[ 9.97134529e-01 7.51531662e-02 8.64476579e-03 1.91843738e+02] [-7.51508170e-02 9.97172001e-01 -5.96722489e-04 -6.57713175e+00] [-8.66516399e-03 -5.46486142e-05 9.99962455e-01 -4.19927232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48439141799997 meters 0.016126956059192697 Centerline is valid? [True, True] Translation: X:191.90, Y:-6.58, Z:-4.20 [[ 9.97034242e-01 7.65260223e-02 8.15406925e-03 1.91902257e+02] [-7.65239863e-02 9.97067582e-01 -5.61858825e-04 -6.58002633e+00] [-8.17315493e-03 -6.37893957e-05 9.99966597e-01 -4.20041175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54439141799998 meters 0.015923299539727022 Centerline is valid? [True, True] Translation: X:191.96, Y:-6.59, Z:-4.20 [[ 9.97117861e-01 7.53179979e-02 9.11976921e-03 1.91960815e+02] [-7.53154090e-02 9.97159564e-01 -6.27472353e-04 -6.58648377e+00] [-9.14112505e-03 -6.11952575e-05 9.99958217e-01 -4.20035291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60439141799998 meters 0.015657466134814876 Centerline is valid? [True, True] Translation: X:192.02, Y:-6.59, Z:-4.20 [[ 9.97313536e-01 7.25325454e-02 1.02342740e-02 1.92019595e+02] [-7.25291488e-02 9.97366045e-01 -7.03134668e-04 -6.59352832e+00] [-1.02583175e-02 -4.10374558e-05 9.99947381e-01 -4.20004486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66439141799998 meters 0.015288336290828848 Centerline is valid? [True, True] Translation: X:192.08, Y:-6.60, Z:-4.20 [[ 9.97736291e-01 6.63058708e-02 1.12172177e-02 1.92077313e+02] [-6.63014083e-02 9.97799344e-01 -7.69636066e-04 -6.60493901e+00] [-1.12435638e-02 2.41765055e-05 9.99936789e-01 -4.19938638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72439141799998 meters 0.01645733964619311 Centerline is valid? [True, True] Translation: X:192.13, Y:-6.62, Z:-4.20 [[ 9.98325478e-01 5.68939459e-02 1.04555897e-02 1.92134981e+02] [-5.68895601e-02 9.98380220e-01 -7.16653125e-04 -6.62100522e+00] [-1.04794272e-02 1.20639174e-04 9.99945082e-01 -4.20173438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78439141799998 meters 0.02162541768968997 Centerline is valid? [True, True] Translation: X:192.19, Y:-6.64, Z:-4.20 [[ 9.98941178e-01 4.50163485e-02 9.48954934e-03 1.92192584e+02] [-4.50122129e-02 9.98986226e-01 -6.49047014e-04 -6.64180889e+00] [-9.50914680e-03 2.21214174e-04 9.99954763e-01 -4.20480399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844391418 meters 0.023027781257051808 Centerline is valid? [True, True] Translation: X:192.25, Y:-6.65, Z:-4.20 [[ 9.99256878e-01 3.74337137e-02 9.18747623e-03 1.92252694e+02] [-3.74295199e-02 9.99299073e-01 -6.28051201e-04 -6.65258154e+00] [-9.20454677e-03 2.83701657e-04 9.99957597e-01 -4.20483000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904391418 meters 0.028359736802858547 Centerline is valid? [True, True] Translation: X:192.31, Y:-6.67, Z:-4.21 [[ 9.99554181e-01 2.87379221e-02 8.09759209e-03 1.92311233e+02] [-2.87343794e-02 9.99586929e-01 -5.53522922e-04 -6.66934479e+00] [-8.11015431e-03 3.20596868e-04 9.99967061e-01 -4.20686532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964391418 meters 0.031152981258762542 Centerline is valid? [True, True] Translation: X:192.37, Y:-6.68, Z:-4.21 [[ 9.99683620e-01 2.39941911e-02 7.54580015e-03 1.92371025e+02] [-2.39909775e-02 9.99712042e-01 -5.16122667e-04 -6.67989177e+00] [-7.55601122e-03 3.34928255e-04 9.99971397e-01 -4.20806697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024391418 meters 0.031842766590318615 Centerline is valid? [True, True] Translation: X:192.43, Y:-6.69, Z:-4.21 [[ 9.99721006e-01 2.25820921e-02 6.92523816e-03 1.92430259e+02] [-2.25793502e-02 9.99744942e-01 -4.73873277e-04 -6.68622623e+00] [-6.93417287e-03 3.17373692e-04 9.99975908e-01 -4.20882847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084391418 meters 0.0330307164363907 Centerline is valid? [True, True] Translation: X:192.49, Y:-6.69, Z:-4.21 [[ 9.99735502e-01 2.20684554e-02 6.47373788e-03 1.92488804e+02] [-2.20660480e-02 9.99756417e-01 -4.43070089e-04 -6.69196158e+00] [-6.48193886e-03 3.00103087e-04 9.99978947e-01 -4.20979276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14439141799997 meters 0.033695604583550275 Centerline is valid? [True, True] Translation: X:192.55, Y:-6.70, Z:-4.21 [[ 9.99745700e-01 2.17238454e-02 6.05065333e-03 1.92548634e+02] [-2.17217397e-02 9.99763970e-01 -4.13533906e-04 -6.69680106e+00] [-6.05820874e-03 2.81998027e-04 9.99981609e-01 -4.21126631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20439141799997 meters 0.03103578096394666 Centerline is valid? [True, True] Translation: X:192.61, Y:-6.70, Z:-4.21 [[ 9.99744160e-01 2.18596058e-02 5.81138868e-03 1.92608320e+02] [-2.18576665e-02 9.99761014e-01 -3.97022664e-04 -6.69654360e+00] [-5.81867860e-03 2.69897694e-04 9.99983035e-01 -4.21086667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26439141799997 meters 0.034920424640602486 Centerline is valid? [True, True] Translation: X:192.67, Y:-6.70, Z:-4.21 [[ 9.99706835e-01 2.36138475e-02 5.35066260e-03 1.92666370e+02] [-2.36122276e-02 9.99721126e-01 -3.65717221e-04 -6.70331913e+00] [-5.35780643e-03 2.39268942e-04 9.99985618e-01 -4.21370776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32439141799998 meters 0.03382542499187415 Centerline is valid? [True, True] Translation: X:192.73, Y:-6.71, Z:-4.21 [[ 9.99653528e-01 2.52145176e-02 7.55333398e-03 1.92725634e+02] [-2.52113430e-02 9.99682011e-01 -5.15230889e-04 -6.70510317e+00] [-7.56392340e-03 3.24622682e-04 9.99971340e-01 -4.21316781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38439141799998 meters 0.026643670089515317 Centerline is valid? [True, True] Translation: X:192.79, Y:-6.70, Z:-4.21 [[ 9.99567644e-01 2.82594054e-02 8.11976330e-03 1.92786677e+02] [-2.82558411e-02 9.99600571e-01 -5.53381335e-04 -6.69636027e+00] [-8.13215825e-03 3.23711337e-04 9.99966881e-01 -4.21195711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44439141799998 meters 0.025689450864758143 Centerline is valid? [True, True] Translation: X:192.85, Y:-6.70, Z:-4.21 [[ 9.99462257e-01 3.18616273e-02 7.74810330e-03 1.92845575e+02] [-3.18584962e-02 9.99492250e-01 -5.27235133e-04 -6.69563154e+00] [-7.76096777e-03 2.80108696e-04 9.99969844e-01 -4.21396845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50439141799998 meters 0.024953291761481946 Centerline is valid? [True, True] Translation: X:192.90, Y:-6.70, Z:-4.22 [[ 9.99364727e-01 3.48813407e-02 7.30990191e-03 1.92903645e+02] [-3.48786291e-02 9.99391431e-01 -4.98143839e-04 -6.69676460e+00] [-7.32282925e-03 2.42868025e-04 9.99973158e-01 -4.21589181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56439141799999 meters 0.0205583610067179 Centerline is valid? [True, True] Translation: X:192.96, Y:-6.69, Z:-4.22 [[ 9.99090416e-01 4.19291438e-02 7.76449154e-03 1.92964067e+02] [-4.19263111e-02 9.99120566e-01 -5.27306879e-04 -6.69045776e+00] [-7.77977271e-03 2.01290761e-04 9.99969717e-01 -4.21576100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624391418 meters 0.02051637635831122 Centerline is valid? [True, True] Translation: X:193.02, Y:-6.69, Z:-4.22 [[ 9.98971764e-01 4.46742870e-02 7.72157651e-03 1.93021536e+02] [-4.46715600e-02 9.99001589e-01 -5.25370178e-04 -6.69310670e+00] [-7.73733774e-03 1.79895106e-04 9.99970050e-01 -4.21829910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684391418 meters 0.016543235771426645 Centerline is valid? [True, True] Translation: X:193.08, Y:-6.69, Z:-4.22 [[ 9.98457602e-01 5.49915373e-02 7.63860877e-03 1.93081740e+02] [-5.49891823e-02 9.98486816e-01 -5.18136125e-04 -6.68560678e+00] [-7.65554325e-03 9.72961027e-05 9.99970691e-01 -4.21913069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744391418 meters 0.015407140547891508 Centerline is valid? [True, True] Translation: X:193.14, Y:-6.68, Z:-4.22 [[ 9.97949739e-01 6.34594362e-02 8.31975918e-03 1.93141026e+02] [-6.34569356e-02 9.97984418e-01 -5.64460188e-04 -6.68238872e+00] [-8.33881035e-03 3.53564755e-05 9.99965231e-01 -4.22055740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804391418 meters 0.015053807347324102 Centerline is valid? [True, True] Translation: X:193.20, Y:-6.68, Z:-4.22 [[ 9.97710686e-01 6.70515917e-02 8.80179564e-03 1.93199836e+02] [-6.70489394e-02 9.97749510e-01 -5.96401285e-04 -6.68322185e+00] [-8.82197694e-03 4.88487268e-06 9.99961086e-01 -4.22015871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86439141799997 meters 0.015259446897527984 Centerline is valid? [True, True] Translation: X:193.26, Y:-6.69, Z:-4.22 [[ 9.97554597e-01 6.91546627e-02 1.01221372e-02 1.93257614e+02] [-6.91512661e-02 9.97605950e-01 -6.85580611e-04 -6.68701503e+00] [-1.01453154e-02 -1.60545118e-05 9.99948535e-01 -4.22096646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92439141799997 meters 0.015031684571094824 Centerline is valid? [True, True] Translation: X:193.32, Y:-6.69, Z:-4.22 [[ 9.97565362e-01 6.89168920e-02 1.06682307e-02 1.93315956e+02] [-6.89131332e-02 9.97622404e-01 -7.19978946e-04 -6.69307023e+00] [-1.06924847e-02 -1.69551449e-05 9.99942834e-01 -4.22066140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98439141799997 meters 0.014831142965637369 Centerline is valid? [True, True] Translation: X:193.37, Y:-6.70, Z:-4.22 [[ 9.97661680e-01 6.74556558e-02 1.09957896e-02 1.93374694e+02] [-6.74515841e-02 9.97722273e-01 -7.41150379e-04 -6.70211648e+00] [-1.10207390e-02 -2.26609560e-06 9.99939270e-01 -4.22229794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04439141799998 meters 0.014655486065849885 Centerline is valid? [True, True] Translation: X:193.43, Y:-6.71, Z:-4.22 [[ 9.97831466e-01 6.49340532e-02 1.07673032e-02 1.93432125e+02] [-6.49300089e-02 9.97889557e-01 -7.25128050e-04 -6.71275056e+00] [-1.07916649e-02 2.44344904e-05 9.99941768e-01 -4.22404363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10439141799998 meters 0.01466274443448824 Centerline is valid? [True, True] Translation: X:193.49, Y:-6.72, Z:-4.23 [[ 9.97987666e-01 6.24429077e-02 1.10228231e-02 1.93490342e+02] [-6.24385319e-02 9.98048536e-01 -7.40998228e-04 -6.72217880e+00] [-1.10475826e-02 5.12581992e-05 9.99938972e-01 -4.22529539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16439141799998 meters 0.015118319572410126 Centerline is valid? [True, True] Translation: X:193.55, Y:-6.73, Z:-4.23 [[ 9.98256592e-01 5.79025192e-02 1.14487825e-02 1.93548434e+02] [-5.78975114e-02 9.98322236e-01 -7.68640138e-04 -6.73433858e+00] [-1.14740804e-02 1.04444068e-04 9.99934165e-01 -4.22657780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22439141799998 meters 0.016310515509920187 Centerline is valid? [True, True] Translation: X:193.61, Y:-6.75, Z:-4.23 [[ 9.98507952e-01 5.31426778e-02 1.25588653e-02 1.93606303e+02] [-5.31362900e-02 9.98586914e-01 -8.41999459e-04 -6.74678639e+00] [-1.25858647e-02 1.73411645e-04 9.99920780e-01 -4.22758817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28439141799998 meters 0.017541343146418333 Centerline is valid? [True, True] Translation: X:193.66, Y:-6.76, Z:-4.23 [[ 9.98665954e-01 4.99563745e-02 1.30641655e-02 1.93663495e+02] [-4.99492020e-02 9.98751376e-01 -8.74938394e-04 -6.75753356e+00] [-1.30915620e-02 2.21226548e-04 9.99914277e-01 -4.22884342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344391418 meters 0.01674113108123792 Centerline is valid? [True, True] Translation: X:193.72, Y:-6.76, Z:-4.23 [[ 9.98694003e-01 4.92917658e-02 1.34391486e-02 1.93722420e+02] [-4.92841355e-02 9.98784394e-01 -8.98555952e-04 -6.76291210e+00] [-1.34671033e-02 2.35045619e-04 9.99909287e-01 -4.22921830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404391418 meters 0.01670228381057568 Centerline is valid? [True, True] Translation: X:193.78, Y:-6.77, Z:-4.23 [[ 9.98631265e-01 5.03144326e-02 1.42847760e-02 1.93780738e+02] [-5.03059348e-02 9.98733399e-01 -9.53811318e-04 -6.76958678e+00] [-1.43146734e-02 2.33896793e-04 9.99897512e-01 -4.23111906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464391418 meters 0.016125923947968863 Centerline is valid? [True, True] Translation: X:193.84, Y:-6.77, Z:-4.23 [[ 9.98526466e-01 5.21914634e-02 1.48643207e-02 1.93839368e+02] [-5.21824890e-02 9.98637074e-01 -9.91228458e-04 -6.77308131e+00] [-1.48957954e-02 2.14110597e-04 9.99889029e-01 -4.23207512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524391418 meters 0.015165040533244608 Centerline is valid? [True, True] Translation: X:193.90, Y:-6.78, Z:-4.23 [[ 9.98339034e-01 5.57400100e-02 1.45679283e-02 1.93896836e+02] [-5.57317824e-02 9.98445305e-01 -9.70449290e-04 -6.77651705e+00] [-1.45993725e-02 1.56940795e-04 9.99893411e-01 -4.23430291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584391418 meters 0.014972354375778403 Centerline is valid? [True, True] Translation: X:193.96, Y:-6.78, Z:-4.24 [[ 9.98246493e-01 5.73397526e-02 1.47000733e-02 1.93955779e+02] [-5.73315726e-02 9.98354714e-01 -9.77613553e-04 -6.78093092e+00] [-1.47319436e-02 1.33120980e-04 9.99891470e-01 -4.23648039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64439141799997 meters 0.01480567239176648 Centerline is valid? [True, True] Translation: X:194.01, Y:-6.79, Z:-4.24 [[ 9.98231536e-01 5.72679783e-02 1.59430259e-02 1.94014582e+02] [-5.72583702e-02 9.98358832e-01 -1.05884083e-03 -6.78595814e+00] [-1.59774984e-02 1.44096631e-04 9.99872341e-01 -4.23721335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70439141799997 meters 0.015493153578224379 Centerline is valid? [True, True] Translation: X:194.07, Y:-6.79, Z:-4.24 [[ 9.98348293e-01 5.47192907e-02 1.75066965e-02 1.94072435e+02] [-5.47073387e-02 9.98501757e-01 -1.16125163e-03 -6.79356032e+00] [-1.75440101e-02 2.01588804e-04 9.99846072e-01 -4.23756421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76439141799997 meters 0.01738660142705587 Centerline is valid? [True, True] Translation: X:194.13, Y:-6.81, Z:-4.24 [[ 9.98615330e-01 4.90906021e-02 1.89086099e-02 1.94129898e+02] [-4.90756939e-02 9.98794278e-01 -1.25192546e-03 -6.80506507e+00] [-1.89472691e-02 3.22238808e-04 9.99820432e-01 -4.23847620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82439141799998 meters 0.019651402399213383 Centerline is valid? [True, True] Translation: X:194.19, Y:-6.81, Z:-4.24 [[ 9.98844637e-01 4.37204348e-02 1.99477951e-02 1.94189248e+02] [-4.37028068e-02 9.99043705e-01 -1.31899056e-03 -6.81479199e+00] [-1.99863860e-02 4.45692008e-04 9.99800153e-01 -4.23909204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88439141799998 meters 0.024893601503146626 Centerline is valid? [True, True] Translation: X:194.25, Y:-6.83, Z:-4.24 [[ 9.99187443e-01 3.40462768e-02 2.15709329e-02 1.94248774e+02] [-3.40234195e-02 9.99420019e-01 -1.42585887e-03 -6.82923791e+00] [-2.16069674e-02 6.90783374e-04 9.99766304e-01 -4.23963571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94439141799998 meters 0.033976550199431334 Centerline is valid? [True, True] Translation: X:194.31, Y:-6.85, Z:-4.24 [[ 9.99474159e-01 2.29527975e-02 2.29035776e-02 1.94308126e+02] [-2.29241162e-02 9.99736061e-01 -1.51407201e-03 -6.84793685e+00] [-2.29322846e-02 9.88231581e-04 9.99736532e-01 -4.24038229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00439141799998 meters 0.039414674191592836 Centerline is valid? [True, True] Translation: X:194.37, Y:-6.86, Z:-4.24 [[ 9.99606495e-01 1.63177891e-02 2.28163307e-02 1.94367276e+02] [-1.62875956e-02 9.99866210e-01 -1.50855462e-03 -6.85947241e+00] [-2.28378944e-02 1.13633782e-03 9.99738535e-01 -4.24233087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06439141799999 meters 0.03615435294215582 Centerline is valid? [True, True] Translation: X:194.43, Y:-6.86, Z:-4.24 [[ 9.99694280e-01 9.71386174e-03 2.27373580e-02 1.94427926e+02] [-9.68218121e-03 9.99951997e-01 -1.50300118e-03 -6.85766334e+00] [-2.27508665e-02 1.28239446e-03 9.99740343e-01 -4.24390294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124391418 meters 0.037534538417704835 Centerline is valid? [True, True] Translation: X:194.49, Y:-6.86, Z:-4.25 [[ 9.99693747e-01 8.67468597e-03 2.31767728e-02 1.94489711e+02] [-8.64148087e-03 9.99961487e-01 -1.53246105e-03 -6.86170389e+00] [-2.31891738e-02 1.33171009e-03 9.99730208e-01 -4.24539472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184391418 meters 0.037688268998006806 Centerline is valid? [True, True] Translation: X:194.55, Y:-6.86, Z:-4.25 [[ 9.99687550e-01 1.04964176e-02 2.26854042e-02 1.94551475e+02] [-1.04649357e-02 9.99944107e-01 -1.50603507e-03 -6.86030913e+00] [-2.26999442e-02 1.26816321e-03 9.99741519e-01 -4.24679966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244391418 meters 0.034367661532274406 Centerline is valid? [True, True] Translation: X:194.61, Y:-6.85, Z:-4.25 [[ 9.99621069e-01 1.60500466e-02 2.23632414e-02 1.94612159e+02] [-1.60208190e-02 9.99870555e-01 -1.48550944e-03 -6.85377353e+00] [-2.23841890e-02 1.12666910e-03 9.99748808e-01 -4.24808222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304391418 meters 0.032042593798174354 Centerline is valid? [True, True] Translation: X:194.67, Y:-6.85, Z:-4.25 [[ 9.99526708e-01 2.08963880e-02 2.25765516e-02 1.94673506e+02] [-2.08678308e-02 9.99781118e-01 -1.49978575e-03 -6.85051211e+00] [-2.26029501e-02 1.02795226e-03 9.99743992e-01 -4.24948535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36439141799997 meters 0.025443482891115726 Centerline is valid? [True, True] Translation: X:194.74, Y:-6.84, Z:-4.25 [[ 9.99318150e-01 2.90336963e-02 2.28096367e-02 1.94735018e+02] [-2.90066517e-02 9.99578069e-01 -1.51570340e-03 -6.83838040e+00] [-2.28440191e-02 8.53038728e-04 9.99738677e-01 -4.25041618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42439141799997 meters 0.021901793996076863 Centerline is valid? [True, True] Translation: X:194.79, Y:-6.83, Z:-4.25 [[ 9.98991204e-01 3.88159650e-02 2.25808490e-02 1.94794932e+02] [-3.87919551e-02 9.99246182e-01 -1.50051675e-03 -6.82958737e+00] [-2.26220712e-02 6.23047753e-04 9.99743894e-01 -4.25210673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48439141799997 meters 0.01830319397953797 Centerline is valid? [True, True] Translation: X:194.86, Y:-6.82, Z:-4.25 [[ 9.98708424e-01 4.57056033e-02 2.21919379e-02 1.94856445e+02] [-4.56841214e-02 9.98954848e-01 -1.47428156e-03 -6.82264299e+00] [-2.22361269e-02 4.58558230e-04 9.99752642e-01 -4.25488858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54439141799998 meters 0.018612662364227688 Centerline is valid? [True, True] Translation: X:194.91, Y:-6.83, Z:-4.26 [[ 9.98626713e-01 4.72042552e-02 2.27254438e-02 1.94914599e+02] [-4.71821063e-02 9.98885163e-01 -1.51012968e-03 -6.82523511e+00] [-2.27713932e-02 4.35821533e-04 9.99740603e-01 -4.25608412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60439141799998 meters 0.016615514503768507 Centerline is valid? [True, True] Translation: X:194.97, Y:-6.82, Z:-4.26 [[ 9.98526427e-01 4.93144061e-02 2.26508949e-02 1.94974814e+02] [-4.92929747e-02 9.98783230e-01 -1.50386709e-03 -6.82212095e+00] [-2.26974963e-02 3.85121040e-04 9.99742304e-01 -4.25756788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66439141799998 meters 0.015614915775480775 Centerline is valid? [True, True] Translation: X:195.03, Y:-6.82, Z:-4.26 [[ 9.98328063e-01 5.35706406e-02 2.17086199e-02 1.95033311e+02] [-5.35519794e-02 9.98564024e-01 -1.44046756e-03 -6.81899399e+00] [-2.17546136e-02 2.75519626e-04 9.99763302e-01 -4.25986862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72439141799998 meters 0.01499268798516879 Centerline is valid? [True, True] Translation: X:195.09, Y:-6.82, Z:-4.26 [[ 9.98161479e-01 5.64758174e-02 2.20032649e-02 1.95092474e+02] [-5.64573911e-02 9.98403945e-01 -1.45823350e-03 -6.81933317e+00] [-2.20505014e-02 2.13305580e-04 9.99756835e-01 -4.26174674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78439141799998 meters 0.015421773560720472 Centerline is valid? [True, True] Translation: X:195.15, Y:-6.82, Z:-4.26 [[ 9.98174301e-01 5.61015866e-02 2.23757908e-02 1.95150025e+02] [-5.60824773e-02 9.98425041e-01 -1.48112201e-03 -6.82423355e+00] [-2.24236431e-02 2.23528151e-04 9.99748534e-01 -4.26288901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844391418 meters 0.01661587156901707 Centerline is valid? [True, True] Translation: X:195.21, Y:-6.83, Z:-4.27 [[ 9.98491823e-01 5.03147974e-02 2.19658897e-02 1.95207945e+02] [-5.02950315e-02 9.98733349e-01 -1.45172375e-03 -6.83154828e+00] [-2.20111098e-02 3.44759180e-04 9.99757667e-01 -4.26531548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904391418 meters 0.02008788071124536 Centerline is valid? [True, True] Translation: X:195.27, Y:-6.85, Z:-4.27 [[ 9.98989920e-01 3.97953536e-02 2.08679129e-02 1.95267480e+02] [-3.97752633e-02 9.99207702e-01 -1.37707839e-03 -6.84525691e+00] [-2.09061806e-02 5.45660699e-04 9.99781293e-01 -4.26776093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964391418 meters 0.024827055632325026 Centerline is valid? [True, True] Translation: X:195.33, Y:-6.86, Z:-4.27 [[ 9.99278279e-01 3.20377925e-02 2.04083657e-02 1.95326262e+02] [-3.20169698e-02 9.99486419e-01 -1.34631416e-03 -6.85826926e+00] [-2.04410172e-02 6.91928471e-04 9.99790821e-01 -4.26932190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024391418 meters 0.02995439853324129 Centerline is valid? [True, True] Translation: X:195.39, Y:-6.87, Z:-4.27 [[ 9.99598425e-01 2.02714509e-02 1.98004549e-02 1.95386627e+02] [-2.02495468e-02 9.99794104e-01 -1.30613631e-03 -6.87160532e+00] [-1.98228554e-02 9.04661565e-04 9.99803099e-01 -4.27064196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084391418 meters 0.03708124056719679 Centerline is valid? [True, True] Translation: X:195.45, Y:-6.89, Z:-4.27 [[ 9.99770708e-01 1.14062301e-02 1.81226428e-02 1.95445893e+02] [-1.13864170e-02 9.99934457e-01 -1.19609201e-03 -6.88712839e+00] [-1.81350979e-02 9.89465790e-04 9.99835056e-01 -4.27351769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14439141799997 meters 0.04140378833889776 Centerline is valid? [True, True] Translation: X:195.50, Y:-6.90, Z:-4.28 [[ 9.99824849e-01 8.15099496e-03 1.68473248e-02 1.95504949e+02] [-8.13341443e-03 9.99966305e-01 -1.11177650e-03 -6.89666258e+00] [-1.68558192e-02 9.74555500e-04 9.99857456e-01 -4.27626980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20439141799997 meters 0.040833649252833705 Centerline is valid? [True, True] Translation: X:195.57, Y:-6.90, Z:-4.28 [[ 9.99838963e-01 7.46598811e-03 1.63189391e-02 1.95566739e+02] [-7.44939758e-03 9.99971673e-01 -1.07719446e-03 -6.89777991e+00] [-1.63265192e-02 9.55454725e-04 9.99866257e-01 -4.27720936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26439141799997 meters 0.037288233545560164 Centerline is valid? [True, True] Translation: X:195.63, Y:-6.89, Z:-4.28 [[ 9.99817713e-01 9.32085586e-03 1.66631793e-02 1.95629034e+02] [-9.30372602e-03 9.99956109e-01 -1.10523215e-03 -6.89458369e+00] [-1.66727496e-02 9.50001022e-04 9.99860549e-01 -4.27769327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32439141799998 meters 0.03436783602360899 Centerline is valid? [True, True] Translation: X:195.69, Y:-6.89, Z:-4.28 [[ 9.99765214e-01 1.42738693e-02 1.63025862e-02 1.95690107e+02] [-1.42581100e-02 9.99897762e-01 -1.08250011e-03 -6.89092795e+00] [-1.63163709e-02 8.49801892e-04 9.99866518e-01 -4.27881678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38439141799998 meters 0.032896933602395116 Centerline is valid? [True, True] Translation: X:195.75, Y:-6.89, Z:-4.28 [[ 9.99686116e-01 2.00265170e-02 1.50535109e-02 1.95750359e+02] [-2.00137238e-02 9.99799205e-01 -1.00002639e-03 -6.88774514e+00] [-1.50705153e-02 6.98435688e-04 9.99886189e-01 -4.28100853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44439141799998 meters 0.029811252687138527 Centerline is valid? [True, True] Translation: X:195.81, Y:-6.88, Z:-4.28 [[ 9.99594053e-01 2.45773400e-02 1.44112496e-02 1.95811153e+02] [-2.45660905e-02 9.99697750e-01 -9.57141029e-04 -6.88441433e+00] [-1.44304178e-02 6.02724418e-04 9.99895694e-01 -4.28262281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50439141799998 meters 0.025043554279711625 Centerline is valid? [True, True] Translation: X:195.87, Y:-6.88, Z:-4.28 [[ 9.99338933e-01 3.34822090e-02 1.41647323e-02 1.95872067e+02] [-3.34722347e-02 9.99439205e-01 -9.40718168e-04 -6.87603335e+00] [-1.41882861e-02 4.65971046e-04 9.99899233e-01 -4.28300332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56439141799999 meters 0.020573882619993468 Centerline is valid? [True, True] Translation: X:195.93, Y:-6.87, Z:-4.28 [[ 9.99101832e-01 4.00256421e-02 1.39096170e-02 1.95932365e+02] [-4.00166509e-02 9.99198586e-01 -9.24238595e-04 -6.86911834e+00] [-1.39354629e-02 3.66792187e-04 9.99902829e-01 -4.28347724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624391418 meters 0.01748222479408449 Centerline is valid? [True, True] Translation: X:195.99, Y:-6.86, Z:-4.28 [[ 9.98729885e-01 4.85152880e-02 1.35971952e-02 1.95992889e+02] [-4.85074917e-02 9.98822411e-01 -9.02783350e-04 -6.86204018e+00] [-1.36249820e-02 2.42070881e-04 9.99907146e-01 -4.28409335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684391418 meters 0.016417643467980903 Centerline is valid? [True, True] Translation: X:196.05, Y:-6.86, Z:-4.28 [[ 9.98497573e-01 5.26594706e-02 1.51518099e-02 1.96051008e+02] [-5.26502636e-02 9.98612506e-01 -1.00618322e-03 -6.86105665e+00] [-1.51837719e-02 2.06924720e-04 9.99884698e-01 -4.28383285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744391418 meters 0.0162047584944375 Centerline is valid? [True, True] Translation: X:196.11, Y:-6.86, Z:-4.28 [[ 9.98458765e-01 5.31140365e-02 1.60933061e-02 1.96108241e+02] [-5.31037345e-02 9.98588431e-01 -1.06710220e-03 -6.86490757e+00] [-1.61272674e-02 2.10842895e-04 9.99869925e-01 -4.28428962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804391418 meters 0.016392456768965512 Centerline is valid? [True, True] Translation: X:196.17, Y:-6.87, Z:-4.29 [[ 9.98610450e-01 5.01871912e-02 1.60752959e-02 1.96166576e+02] [-5.01765667e-02 9.98739796e-01 -1.06382033e-03 -6.87000919e+00] [-1.61084279e-02 2.55738943e-04 9.99870218e-01 -4.28558177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86439141799997 meters 0.018168940542707786 Centerline is valid? [True, True] Translation: X:196.22, Y:-6.88, Z:-4.29 [[ 9.98816910e-01 4.60063386e-02 1.57543008e-02 1.96223331e+02] [-4.59956301e-02 9.98941098e-01 -1.04157012e-03 -6.87900653e+00] [-1.57855373e-02 3.15708861e-04 9.99875351e-01 -4.28808062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92439141799997 meters 0.02131534029798604 Centerline is valid? [True, True] Translation: X:196.28, Y:-6.89, Z:-4.29 [[ 9.99139754e-01 3.80500857e-02 1.64906871e-02 1.96283181e+02] [-3.80373153e-02 9.99275728e-01 -1.08747115e-03 -6.89277102e+00] [-1.65201217e-02 4.59274195e-04 9.99863428e-01 -4.28933263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98439141799997 meters 0.025188606305530176 Centerline is valid? [True, True] Translation: X:196.34, Y:-6.90, Z:-4.29 [[ 9.99338568e-01 3.16502924e-02 1.79077099e-02 1.96341951e+02] [-3.16342047e-02 9.99498816e-01 -1.18099632e-03 -6.90499803e+00] [-1.79361137e-02 6.13719014e-04 9.99838947e-01 -4.28938009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04439141799998 meters 0.02650390521204467 Centerline is valid? [True, True] Translation: X:196.40, Y:-6.91, Z:-4.29 [[ 9.99379908e-01 2.96181240e-02 1.90411922e-02 1.96402302e+02] [-2.95995753e-02 9.99561048e-01 -1.25529001e-03 -6.91182556e+00] [-1.90700134e-02 6.90900414e-04 9.99817912e-01 -4.29009267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10439141799998 meters 0.026047398412084935 Centerline is valid? [True, True] Translation: X:196.46, Y:-6.92, Z:-4.29 [[ 9.99373641e-01 2.95128792e-02 1.95272917e-02 1.96463421e+02] [-2.94933531e-02 9.99564148e-01 -1.28723824e-03 -6.91603689e+00] [-1.95567708e-02 7.10506660e-04 9.99808496e-01 -4.29124635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16439141799998 meters 0.025962774023522726 Centerline is valid? [True, True] Translation: X:196.53, Y:-6.92, Z:-4.29 [[ 9.99339301e-01 3.08980183e-02 1.91382926e-02 1.96525028e+02] [-3.08795019e-02 9.99522317e-01 -1.26233649e-03 -6.91976872e+00] [-1.91681543e-02 6.70521522e-04 9.99816049e-01 -4.29286740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22439141799998 meters 0.025008296425385854 Centerline is valid? [True, True] Translation: X:196.59, Y:-6.92, Z:-4.29 [[ 9.99246969e-01 3.36979832e-02 1.92338436e-02 1.96585783e+02] [-3.36797829e-02 9.99431869e-01 -1.26950114e-03 -6.92163547e+00] [-1.92656959e-02 6.20753492e-04 9.99814207e-01 -4.29423776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28439141799998 meters 0.024120266534027598 Centerline is valid? [True, True] Translation: X:196.65, Y:-6.92, Z:-4.30 [[ 9.99241540e-01 3.43263937e-02 1.83859375e-02 1.96645229e+02] [-3.43098665e-02 9.99410506e-01 -1.21367821e-03 -6.92293805e+00] [-1.84167603e-02 5.81938627e-04 9.99830228e-01 -4.29707658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344391418 meters 0.024273213015196405 Centerline is valid? [True, True] Translation: X:196.70, Y:-6.93, Z:-4.30 [[ 9.99289954e-01 3.31085782e-02 1.79835787e-02 1.96704521e+02] [-3.30925820e-02 9.99451586e-01 -1.18643359e-03 -6.92644982e+00] [-1.80129974e-02 5.90468112e-04 9.99837578e-01 -4.29931594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404391418 meters 0.025088352676879373 Centerline is valid? [True, True] Translation: X:196.76, Y:-6.93, Z:-4.30 [[ 9.99315381e-01 3.23932983e-02 1.78729842e-02 1.96763962e+02] [-3.23773966e-02 9.99475020e-01 -1.17842998e-03 -6.93127434e+00] [-1.79017745e-02 5.98942506e-04 9.99839571e-01 -4.30097695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464391418 meters 0.025569530977737582 Centerline is valid? [True, True] Translation: X:196.82, Y:-6.93, Z:-4.30 [[ 9.99416141e-01 2.94417845e-02 1.73366185e-02 1.96823848e+02] [-2.94263924e-02 9.99566297e-01 -1.14232130e-03 -6.93421037e+00] [-1.73627315e-02 6.31500204e-04 9.99849057e-01 -4.30209301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524391418 meters 0.029050773615213913 Centerline is valid? [True, True] Translation: X:196.88, Y:-6.94, Z:-4.30 [[ 9.99506797e-01 2.54271033e-02 1.84289195e-02 1.96883512e+02] [-2.54090375e-02 9.99676401e-01 -1.21382351e-03 -6.94157652e+00] [-1.84538199e-02 7.44963746e-04 9.99829436e-01 -4.30290516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58439141799997 meters 0.03158403913230941 Centerline is valid? [True, True] Translation: X:196.94, Y:-6.95, Z:-4.30 [[ 9.99552476e-01 2.31956923e-02 1.88893335e-02 1.96944023e+02] [-2.31763225e-02 9.99730619e-01 -1.24373040e-03 -6.94776089e+00] [-1.89130943e-02 8.05388517e-04 9.99820807e-01 -4.30410890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64439141799997 meters 0.03137149545519387 Centerline is valid? [True, True] Translation: X:197.01, Y:-6.95, Z:-4.30 [[ 9.99590184e-01 2.09543161e-02 1.95033708e-02 1.97005763e+02] [-2.09331934e-02 9.99780049e-01 -1.28657181e-03 -6.94849063e+00] [-1.95260402e-02 8.77776719e-04 9.99808963e-01 -4.30479622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70439141799997 meters 0.029889412801786926 Centerline is valid? [True, True] Translation: X:197.07, Y:-6.95, Z:-4.31 [[ 9.99596001e-01 2.05788896e-02 1.96047063e-02 1.97068070e+02] [-2.05573768e-02 9.99787832e-01 -1.29825053e-03 -6.94852417e+00] [-1.96272634e-02 8.94704701e-04 9.99806966e-01 -4.30587932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76439141799997 meters 0.032339340142306036 Centerline is valid? [True, True] Translation: X:197.13, Y:-6.95, Z:-4.31 [[ 9.99575218e-01 2.19331857e-02 1.91916628e-02 1.97129034e+02] [-2.19127146e-02 9.99759073e-01 -1.27633453e-03 -6.95248415e+00] [-1.92150331e-02 8.55250934e-04 9.99815008e-01 -4.30775237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82439141799998 meters 0.02872957843993222 Centerline is valid? [True, True] Translation: X:197.19, Y:-6.95, Z:-4.31 [[ 9.99546041e-01 2.38467354e-02 1.84131735e-02 1.97192003e+02] [-2.38281330e-02 9.99715314e-01 -1.22904649e-03 -6.94840091e+00] [-1.84372403e-02 7.89737010e-04 9.99829708e-01 -4.30992838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88439141799998 meters 0.03164644647075823 Centerline is valid? [True, True] Translation: X:197.25, Y:-6.95, Z:-4.31 [[ 9.99518885e-01 2.56593161e-02 1.74240861e-02 1.97252870e+02] [-2.56428511e-02 9.99670486e-01 -1.16775187e-03 -6.95444820e+00] [-1.74483083e-02 7.20386799e-04 9.99847507e-01 -4.31275912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94439141799998 meters 0.0267310808583976 Centerline is valid? [True, True] Translation: X:197.31, Y:-6.95, Z:-4.31 [[ 9.99431076e-01 2.93033579e-02 1.66984256e-02 1.97314522e+02] [-2.92886542e-02 9.99570363e-01 -1.12447647e-03 -6.94770802e+00] [-1.67242023e-02 6.34762315e-04 9.99859939e-01 -4.31388043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00439141799998 meters 0.023826880885858506 Centerline is valid? [True, True] Translation: X:197.37, Y:-6.94, Z:-4.31 [[ 9.99266614e-01 3.42020142e-02 1.72179294e-02 1.97374920e+02] [-3.41870983e-02 9.99414777e-01 -1.15998047e-03 -6.94270513e+00] [-1.72475268e-02 5.70498713e-04 9.99851088e-01 -4.31371360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06439141799999 meters 0.02161113352187378 Centerline is valid? [True, True] Translation: X:197.43, Y:-6.94, Z:-4.31 [[ 9.99128405e-01 3.74658320e-02 1.84049339e-02 1.97433799e+02] [-3.74493447e-02 9.99297758e-01 -1.23976901e-03 -6.94044963e+00] [-1.84384581e-02 5.49435722e-04 9.99829846e-01 -4.31349089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124391418 meters 0.020472566749756702 Centerline is valid? [True, True] Translation: X:197.49, Y:-6.94, Z:-4.31 [[ 9.98924046e-01 4.16795225e-02 2.03363766e-02 1.97492219e+02] [-4.16603025e-02 9.99130896e-01 -1.36802848e-03 -6.93927806e+00] [-2.03757209e-02 5.19336948e-04 9.99792259e-01 -4.31324634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184391418 meters 0.019105254095888445 Centerline is valid? [True, True] Translation: X:197.55, Y:-6.94, Z:-4.31 [[ 9.98771663e-01 4.47779900e-02 2.12154877e-02 1.97551079e+02] [-4.47578078e-02 9.98996850e-01 -1.42541270e-03 -6.93841909e+00] [-2.12580325e-02 4.74103093e-04 9.99773910e-01 -4.31397450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244391418 meters 0.01705078831412803 Centerline is valid? [True, True] Translation: X:197.61, Y:-6.93, Z:-4.31 [[ 9.98467611e-01 5.08255982e-02 2.18903798e-02 1.97610649e+02] [-5.08056031e-02 9.98707481e-01 -1.46895448e-03 -6.93467733e+00] [-2.19367466e-02 3.54549522e-04 9.99759298e-01 -4.31487587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304391418 meters 0.015421489959310818 Centerline is valid? [True, True] Translation: X:197.67, Y:-6.93, Z:-4.32 [[ 9.98114949e-01 5.69862376e-02 2.27841257e-02 1.97669827e+02] [-5.69662347e-02 9.98374938e-01 -1.52654456e-03 -6.93186122e+00] [-2.28340922e-02 2.25741086e-04 9.99739243e-01 -4.31541504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36439141799997 meters 0.01500195288835606 Centerline is valid? [True, True] Translation: X:197.73, Y:-6.93, Z:-4.32 [[ 9.97914665e-01 6.03842306e-02 2.28049705e-02 1.97727399e+02] [-6.03651209e-02 9.98175197e-01 -1.52606395e-03 -6.93260610e+00] [-2.28555061e-02 1.46256796e-04 9.99738768e-01 -4.31606959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42439141799997 meters 0.014707396099465237 Centerline is valid? [True, True] Translation: X:197.79, Y:-6.93, Z:-4.32 [[ 9.97769367e-01 6.28337890e-02 2.25434283e-02 1.97786489e+02] [-6.28158000e-02 9.98024001e-01 -1.50591614e-03 -6.93463667e+00] [-2.25935050e-02 8.64735095e-05 9.99744730e-01 -4.31713832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48439141799997 meters 0.014777673914469922 Centerline is valid? [True, True] Translation: X:197.84, Y:-6.94, Z:-4.32 [[ 9.97795011e-01 6.26271420e-02 2.19762716e-02 1.97843773e+02] [-6.26100333e-02 9.98036990e-01 -1.46637549e-03 -6.93924612e+00] [-2.20249668e-02 8.72070536e-05 9.99757417e-01 -4.31880683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54439141799998 meters 0.015040125207564871 Centerline is valid? [True, True] Translation: X:197.90, Y:-6.95, Z:-4.32 [[ 9.97918865e-01 6.08247528e-02 2.14076665e-02 1.97901347e+02] [-6.08081591e-02 9.98148453e-01 -1.42583374e-03 -6.94696342e+00] [-2.14547552e-02 1.21105596e-04 9.99769813e-01 -4.31977281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60439141799998 meters 0.015476388845133594 Centerline is valid? [True, True] Translation: X:197.96, Y:-6.95, Z:-4.32 [[ 9.98047550e-01 5.86902806e-02 2.13667646e-02 1.97958432e+02] [-5.86733076e-02 9.98276226e-01 -1.42094059e-03 -6.95451117e+00] [-2.14133286e-02 1.64507523e-04 9.99770695e-01 -4.32046760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66439141799998 meters 0.016102806466127783 Centerline is valid? [True, True] Translation: X:198.02, Y:-6.96, Z:-4.32 [[ 9.98369033e-01 5.35862080e-02 1.96924527e-02 1.98017066e+02] [-5.35708331e-02 9.98563196e-01 -1.30782096e-03 -6.96458399e+00] [-1.97342397e-02 2.50746853e-04 9.99805229e-01 -4.32205173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72439141799998 meters 0.017520565982747437 Centerline is valid? [True, True] Translation: X:198.07, Y:-6.98, Z:-4.32 [[ 9.98648084e-01 4.84606693e-02 1.88034055e-02 1.98074650e+02] [-4.84457690e-02 9.98825035e-01 -1.24739814e-03 -6.97723245e+00] [-1.88417619e-02 3.34766326e-04 9.99822422e-01 -4.32396343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78439141799998 meters 0.01874935815313737 Centerline is valid? [True, True] Translation: X:198.13, Y:-6.99, Z:-4.33 [[ 9.98831098e-01 4.46623037e-02 1.84855856e-02 1.98132804e+02] [-4.46472872e-02 9.99002062e-01 -1.22444594e-03 -6.98678562e+00] [-1.85218247e-02 3.97683435e-04 9.99828377e-01 -4.32537901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844391418 meters 0.021351902259837054 Centerline is valid? [True, True] Translation: X:198.19, Y:-7.00, Z:-4.33 [[ 9.99047458e-01 3.94839757e-02 1.85793399e-02 1.98190335e+02] [-3.94679420e-02 9.99220081e-01 -1.22901029e-03 -7.00079728e+00] [-1.86133757e-02 4.94551300e-04 9.99826634e-01 -4.32775734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904391418 meters 0.0249101006937544 Centerline is valid? [True, True] Translation: X:198.25, Y:-7.02, Z:-4.33 [[ 9.99292790e-01 3.32385390e-02 1.75818129e-02 1.98248112e+02] [-3.32232301e-02 9.99447280e-01 -1.16217550e-03 -7.01720786e+00] [-1.76107241e-02 5.77228978e-04 9.99844753e-01 -4.33153670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964391418 meters 0.027454743806988435 Centerline is valid? [True, True] Translation: X:198.31, Y:-7.03, Z:-4.33 [[ 9.99451143e-01 2.82554665e-02 1.72928077e-02 1.98307332e+02] [-2.82399037e-02 9.99600520e-01 -1.14353925e-03 -7.02975182e+00] [-1.73182108e-02 6.54564387e-04 9.99849814e-01 -4.33440879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024391418 meters 0.03242235572817621 Centerline is valid? [True, True] Translation: X:198.37, Y:-7.05, Z:-4.34 [[ 9.99631443e-01 2.17777002e-02 1.62083137e-02 1.98365384e+02] [-2.17631834e-02 9.99762580e-01 -1.07150956e-03 -7.04760155e+00] [-1.62278005e-02 7.18370148e-04 9.99868063e-01 -4.33805171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08439141799997 meters 0.03546340225269425 Centerline is valid? [True, True] Translation: X:198.43, Y:-7.06, Z:-4.34 [[ 9.99730936e-01 1.78690360e-02 1.47902992e-02 1.98425482e+02] [-1.78565280e-02 9.99840082e-01 -9.77327739e-04 -7.06048841e+00] [-1.48053979e-02 7.12961383e-04 9.99890140e-01 -4.34184051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14439141799997 meters 0.04067059614067263 Centerline is valid? [True, True] Translation: X:198.48, Y:-7.08, Z:-4.35 [[ 9.99847809e-01 1.28522424e-02 1.17973659e-02 1.98483938e+02] [-1.28439306e-02 9.99917209e-01 -7.80043694e-04 -7.07834139e+00] [-1.18064145e-02 6.28400430e-04 9.99930104e-01 -4.34790468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20439141799997 meters 0.04304201612852429 Centerline is valid? [True, True] Translation: X:198.54, Y:-7.09, Z:-4.35 [[ 9.99882966e-01 1.11740688e-02 1.04496518e-02 1.98544810e+02] [-1.11674878e-02 9.99937405e-01 -6.87920743e-04 -7.09106563e+00] [-1.04566846e-02 5.71143874e-04 9.99945164e-01 -4.35138645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26439141799997 meters 0.03617637142127608 Centerline is valid? [True, True] Translation: X:198.61, Y:-7.09, Z:-4.35 [[ 9.99850219e-01 1.32009332e-02 1.11926599e-02 1.98606846e+02] [-1.31934547e-02 9.99912687e-01 -7.41736984e-04 -7.08909830e+00] [-1.12014743e-02 5.93956034e-04 9.99937085e-01 -4.35062311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32439141799998 meters 0.034809568080156734 Centerline is valid? [True, True] Translation: X:198.67, Y:-7.09, Z:-4.35 [[ 9.99774696e-01 1.72144822e-02 1.24184490e-02 1.98667687e+02] [-1.72055690e-02 9.99851634e-01 -8.24222931e-04 -7.09351125e+00] [-1.24307951e-02 6.10370750e-04 9.99922548e-01 -4.35158609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38439141799998 meters 0.03149178443362914 Centerline is valid? [True, True] Translation: X:198.73, Y:-7.10, Z:-4.35 [[ 9.99624971e-01 2.36006343e-02 1.38898340e-02 1.98728136e+02] [-2.35900924e-02 9.99721290e-01 -9.22340528e-04 -7.09514676e+00] [-1.39077306e-02 5.94332156e-04 9.99903106e-01 -4.35215715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44439141799998 meters 0.02487828959278651 Centerline is valid? [True, True] Translation: X:198.79, Y:-7.09, Z:-4.35 [[ 9.99381658e-01 3.19703446e-02 1.46355215e-02 1.98789315e+02] [-3.19595357e-02 9.99488691e-01 -9.71885607e-04 -7.09132167e+00] [-1.46591098e-02 5.03540176e-04 9.99892423e-01 -4.35246162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50439141799998 meters 0.01949342034792942 Centerline is valid? [True, True] Translation: X:198.85, Y:-7.09, Z:-4.35 [[ 9.98892170e-01 4.50257271e-02 1.36790513e-02 1.98850013e+02] [-4.50175066e-02 9.98985785e-01 -9.08428631e-04 -7.08781651e+00] [-1.37060804e-02 2.91625466e-04 9.99906025e-01 -4.35477390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56439141799999 meters 0.016034379255683844 Centerline is valid? [True, True] Translation: X:198.91, Y:-7.09, Z:-4.36 [[ 9.98359615e-01 5.59572689e-02 1.21187305e-02 1.98910338e+02] [-5.59516160e-02 9.98433157e-01 -8.05273779e-04 -7.08574072e+00] [-1.21448032e-02 1.25890266e-04 9.99926241e-01 -4.35737256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624391418 meters 0.015248989694414183 Centerline is valid? [True, True] Translation: X:198.97, Y:-7.09, Z:-4.36 [[ 9.98059567e-01 6.11726808e-02 1.16191572e-02 1.98968991e+02] [-6.11678412e-02 9.98127196e-01 -7.71769089e-04 -7.08761304e+00] [-1.16446080e-02 5.95527598e-05 9.99932197e-01 -4.35895499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684391418 meters 0.01480754576515913 Centerline is valid? [True, True] Translation: X:199.03, Y:-7.09, Z:-4.36 [[ 9.97751023e-01 6.61199973e-02 1.10019221e-02 1.99027509e+02] [-6.61159673e-02 9.97811679e-01 -7.30008340e-04 -7.09148496e+00] [-1.10261145e-02 9.63844344e-07 9.99939211e-01 -4.35972423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744391418 meters 0.014764739717128906 Centerline is valid? [True, True] Translation: X:199.09, Y:-7.10, Z:-4.36 [[ 9.97700181e-01 6.66698457e-02 1.22262103e-02 1.99085395e+02] [-6.66649225e-02 9.97775091e-01 -8.10238791e-04 -7.09896504e+00] [-1.22530266e-02 -6.68397138e-06 9.99924929e-01 -4.36017918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804391418 meters 0.014894620925167332 Centerline is valid? [True, True] Translation: X:199.14, Y:-7.11, Z:-4.36 [[ 9.97818450e-01 6.47279041e-02 1.29861270e-02 1.99144162e+02] [-6.47222063e-02 9.97902950e-01 -8.58992094e-04 -7.10676523e+00] [-1.30144952e-02 1.66273692e-05 9.99915308e-01 -4.36019220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86439141799997 meters 0.01528780954768986 Centerline is valid? [True, True] Translation: X:199.20, Y:-7.12, Z:-4.36 [[ 9.98165121e-01 5.90379038e-02 1.34505601e-02 1.99202720e+02] [-5.90312894e-02 9.98255737e-01 -8.88586726e-04 -7.11874202e+00] [-1.34795591e-02 9.29523682e-05 9.99909142e-01 -4.35956537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92439141799997 meters 0.01736555547720935 Centerline is valid? [True, True] Translation: X:199.26, Y:-7.13, Z:-4.36 [[ 9.98599575e-01 5.08182878e-02 1.47102184e-02 1.99259542e+02] [-5.08095020e-02 9.98707891e-01 -9.70613801e-04 -7.13396189e+00] [-1.47405361e-02 2.21835659e-04 9.99891328e-01 -4.35928032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98439141799997 meters 0.020135088605102266 Centerline is valid? [True, True] Translation: X:199.32, Y:-7.15, Z:-4.36 [[ 9.98891940e-01 4.44148295e-02 1.55632422e-02 1.99317605e+02] [-4.44042472e-02 9.99013119e-01 -1.02502042e-03 -7.14739709e+00] [-1.55934093e-02 3.32810582e-04 9.99878360e-01 -4.36008759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04439141799998 meters 0.025869324869741386 Centerline is valid? [True, True] Translation: X:199.38, Y:-7.17, Z:-4.36 [[ 9.99282098e-01 3.46346564e-02 1.53534435e-02 1.99375715e+02] [-3.46232195e-02 9.99399926e-01 -1.01016994e-03 -7.16607457e+00] [-1.53792172e-02 4.77859090e-04 9.99881619e-01 -4.36222627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10439141799998 meters 0.026522281323839336 Centerline is valid? [True, True] Translation: X:199.44, Y:-7.17, Z:-4.36 [[ 9.99473581e-01 2.89823984e-02 1.45802066e-02 1.99435761e+02] [-2.89714928e-02 9.99579778e-01 -9.58675566e-04 -7.17349159e+00] [-1.46018644e-02 5.35760549e-04 9.99893244e-01 -4.36364962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16439141799998 meters 0.029299075280801008 Centerline is valid? [True, True] Translation: X:199.50, Y:-7.18, Z:-4.37 [[ 9.99638410e-01 2.31919079e-02 1.36082565e-02 1.99495889e+02] [-2.31818745e-02 9.99730864e-01 -8.94602143e-04 -7.18416721e+00] [-1.36253416e-02 5.78813769e-04 9.99907003e-01 -4.36506329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22439141799998 meters 0.0331931788891925 Centerline is valid? [True, True] Translation: X:199.56, Y:-7.19, Z:-4.37 [[ 9.99710682e-01 1.97349039e-02 1.37508229e-02 1.99555500e+02] [-1.97243289e-02 9.99805048e-01 -9.04253417e-04 -7.19445540e+00] [-1.37659875e-02 6.32766047e-04 9.99905044e-01 -4.36585062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28439141799998 meters 0.031161299696001624 Centerline is valid? [True, True] Translation: X:199.62, Y:-7.20, Z:-4.37 [[ 9.99733099e-01 1.87395588e-02 1.35114858e-02 1.99617543e+02] [-1.87292847e-02 9.99824199e-01 -8.86548015e-04 -7.19556721e+00] [-1.35257240e-02 6.33250931e-04 9.99908323e-01 -4.36616591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344391418 meters 0.035257064719105294 Centerline is valid? [True, True] Translation: X:199.68, Y:-7.20, Z:-4.37 [[ 9.99741083e-01 1.85068721e-02 1.32386861e-02 1.99678347e+02] [-1.84969378e-02 9.99828536e-01 -8.72458089e-04 -7.20435643e+00] [-1.32525626e-02 6.27357042e-04 9.99911984e-01 -4.36877138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404391418 meters 0.031438842323247056 Centerline is valid? [True, True] Translation: X:199.74, Y:-7.20, Z:-4.37 [[ 9.99733547e-01 1.90995222e-02 1.29631523e-02 1.99741304e+02] [-1.90899868e-02 9.99817401e-01 -8.58927107e-04 -7.20258342e+00] [-1.29771904e-02 6.11231835e-04 9.99915606e-01 -4.36976649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464391418 meters 0.03150469228113542 Centerline is valid? [True, True] Translation: X:199.80, Y:-7.20, Z:-4.37 [[ 9.99699013e-01 2.12785078e-02 1.22109740e-02 1.99802294e+02] [-2.12702026e-02 9.99773436e-01 -8.09619968e-04 -7.20306300e+00] [-1.22254350e-02 5.49646391e-04 9.99925116e-01 -4.37149756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524391418 meters 0.028660799139226836 Centerline is valid? [True, True] Translation: X:199.86, Y:-7.20, Z:-4.37 [[ 9.99567491e-01 2.62869806e-02 1.31842628e-02 1.99863191e+02] [-2.62776838e-02 9.99654297e-01 -8.77910383e-04 -7.19811182e+00] [-1.32027825e-02 5.31078790e-04 9.99912698e-01 -4.37078825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58439141799997 meters 0.02633529588912223 Centerline is valid? [True, True] Translation: X:199.92, Y:-7.20, Z:-4.37 [[ 9.99389345e-01 3.18282147e-02 1.44188104e-02 1.99923887e+02] [-3.18176710e-02 9.99493229e-01 -9.60116129e-04 -7.19512209e+00] [-1.44420621e-02 5.00756864e-04 9.99895583e-01 -4.37048376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64439141799997 meters 0.022638865348680256 Centerline is valid? [True, True] Translation: X:199.98, Y:-7.19, Z:-4.37 [[ 9.99076528e-01 4.01746878e-02 1.52343853e-02 1.99983627e+02] [-4.01638829e-02 9.99192591e-01 -1.01466171e-03 -7.18726536e+00] [-1.52628487e-02 4.01852630e-04 9.99883435e-01 -4.37071867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70439141799997 meters 0.020750425971147853 Centerline is valid? [True, True] Translation: X:200.04, Y:-7.18, Z:-4.37 [[ 9.98885937e-01 4.46945977e-02 1.51419401e-02 2.00043542e+02] [-4.46844503e-02 9.99000643e-01 -1.00798948e-03 -7.18437007e+00] [-1.51718596e-02 3.30257247e-04 9.99884846e-01 -4.37211089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76439141799997 meters 0.01846979753333305 Centerline is valid? [True, True] Translation: X:200.10, Y:-7.18, Z:-4.37 [[ 9.98750646e-01 4.78875066e-02 1.42805382e-02 2.00102710e+02] [-4.78788095e-02 9.98852700e-01 -9.50479227e-04 -7.17905193e+00] [-1.43096702e-02 2.65556576e-04 9.99897576e-01 -4.37356984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82439141799998 meters 0.018350342978619774 Centerline is valid? [True, True] Translation: X:200.16, Y:-7.18, Z:-4.38 [[ 9.98831639e-01 4.67164158e-02 1.23666246e-02 2.00161271e+02] [-4.67098129e-02 9.98908162e-01 -8.22381681e-04 -7.17934562e+00] [-1.23915410e-02 2.43778122e-04 9.99923192e-01 -4.37519033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88439141799998 meters 0.0210661741369144 Centerline is valid? [True, True] Translation: X:200.22, Y:-7.19, Z:-4.38 [[ 9.98957927e-01 4.41433708e-02 1.15941062e-02 2.00218582e+02] [-4.41374013e-02 9.99025173e-01 -7.70377810e-04 -7.18767407e+00] [-1.16168110e-02 2.57841301e-04 9.99932489e-01 -4.37812867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94439141799998 meters 0.021024598844483048 Centerline is valid? [True, True] Translation: X:200.28, Y:-7.19, Z:-4.38 [[ 9.99196110e-01 3.87674729e-02 1.02087110e-02 2.00277714e+02] [-3.87625758e-02 9.99248219e-01 -6.77198610e-04 -7.19016970e+00] [-1.02272896e-02 2.80938282e-04 9.99947660e-01 -4.37820622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00439141799998 meters 0.0235457088972724 Centerline is valid? [True, True] Translation: X:200.34, Y:-7.20, Z:-4.38 [[ 9.99326398e-01 3.54145058e-02 9.62100972e-03 2.00336042e+02] [-3.54100076e-02 9.99372666e-01 -6.37536279e-04 -7.19787934e+00] [-9.63755216e-03 2.96426806e-04 9.99953514e-01 -4.38110107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06439141799999 meters 0.02504216136960596 Centerline is valid? [True, True] Translation: X:200.40, Y:-7.20, Z:-4.38 [[ 9.99453934e-01 3.15445311e-02 9.83751563e-03 2.00395738e+02] [-3.15396493e-02 9.99502289e-01 -6.51026338e-04 -7.20394417e+00] [-9.85315571e-03 3.40399041e-04 9.99951399e-01 -4.38164768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124391418 meters 0.027689085806663596 Centerline is valid? [True, True] Translation: X:200.45, Y:-7.21, Z:-4.38 [[ 9.99537102e-01 2.87051669e-02 1.00794122e-02 2.00453869e+02] [-2.86998999e-02 9.99587851e-01 -6.66835549e-04 -7.21004139e+00] [-1.00943996e-02 3.77248752e-04 9.99948979e-01 -4.38204264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184391418 meters 0.026353472148111057 Centerline is valid? [True, True] Translation: X:200.51, Y:-7.21, Z:-4.38 [[ 9.99583335e-01 2.69323597e-02 1.03829139e-02 2.00513610e+02] [-2.69266840e-02 9.99637176e-01 -6.86063555e-04 -7.21063420e+00] [-1.03976241e-02 4.06200253e-04 9.99945861e-01 -4.38158879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244391418 meters 0.027680625393472873 Centerline is valid? [True, True] Translation: X:200.57, Y:-7.22, Z:-4.38 [[ 9.99611280e-01 2.58251507e-02 1.05047528e-02 2.00573095e+02] [-2.58192847e-02 9.99666386e-01 -6.93672667e-04 -7.21605821e+00] [-1.05191625e-02 4.22177820e-04 9.99944583e-01 -4.38337739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304391418 meters 0.029048926986479973 Centerline is valid? [True, True] Translation: X:200.63, Y:-7.22, Z:-4.39 [[ 9.99662249e-01 2.35380890e-02 1.10157234e-02 2.00632445e+02] [-2.35315051e-02 9.99722832e-01 -7.26929938e-04 -7.22167195e+00] [-1.10297807e-02 4.67467866e-04 9.99939061e-01 -4.38511512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36439141799997 meters 0.03048276268123403 Centerline is valid? [True, True] Translation: X:200.69, Y:-7.23, Z:-4.39 [[ 9.99685439e-01 2.27324387e-02 1.05952304e-02 2.00692102e+02] [-2.27263093e-02 9.99741480e-01 -6.98562819e-04 -7.22588634e+00] [-1.06083714e-02 4.57552594e-04 9.99943625e-01 -4.38753237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42439141799997 meters 0.029228978264061137 Centerline is valid? [True, True] Translation: X:200.75, Y:-7.23, Z:-4.39 [[ 9.99693294e-01 2.27429374e-02 9.80184025e-03 2.00752083e+02] [-2.27376913e-02 9.99741256e-01 -6.46342430e-04 -7.22705132e+00] [-9.81400381e-03 4.23272976e-04 9.99951752e-01 -4.38962022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48439141799997 meters 0.030214874540789267 Centerline is valid? [True, True] Translation: X:200.81, Y:-7.23, Z:-4.39 [[ 9.99719899e-01 2.16103001e-02 9.64975860e-03 2.00811986e+02] [-2.16051688e-02 9.99766379e-01 -6.35695150e-04 -7.23091591e+00] [-9.66124177e-03 4.27032427e-04 9.99953238e-01 -4.39143694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54439141799998 meters 0.02852003876610796 Centerline is valid? [True, True] Translation: X:200.87, Y:-7.23, Z:-4.39 [[ 9.99721894e-01 2.15065074e-02 9.67496163e-03 2.00871755e+02] [-2.15013437e-02 9.99768616e-01 -6.37425123e-04 -7.23108014e+00] [-9.68643178e-03 4.29223176e-04 9.99952993e-01 -4.39190887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60439141799998 meters 0.03173467071526758 Centerline is valid? [True, True] Translation: X:200.93, Y:-7.24, Z:-4.39 [[ 9.99713716e-01 2.18150554e-02 9.82801979e-03 2.00930931e+02] [-2.18097486e-02 9.99761930e-01 -6.46835511e-04 -7.23645499e+00] [-9.83979078e-03 4.32303691e-04 9.99951495e-01 -4.39402093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66439141799998 meters 0.03177042644594475 Centerline is valid? [True, True] Translation: X:200.99, Y:-7.24, Z:-4.40 [[ 9.99710132e-01 2.21824067e-02 9.35910208e-03 2.00990345e+02] [-2.21776097e-02 9.99753857e-01 -6.16034656e-04 -7.23797976e+00] [-9.37046353e-03 4.08293574e-04 9.99956013e-01 -4.39602438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72439141799998 meters 0.029126184905900018 Centerline is valid? [True, True] Translation: X:201.05, Y:-7.24, Z:-4.40 [[ 9.99729164e-01 2.17703437e-02 8.22505009e-03 2.01050640e+02] [-2.17666264e-02 9.99762932e-01 -5.41206455e-04 -7.23593782e+00] [-8.23488245e-03 3.62028284e-04 9.99966027e-01 -4.39707636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78439141799998 meters 0.03024773233535223 Centerline is valid? [True, True] Translation: X:201.11, Y:-7.24, Z:-4.40 [[ 9.99762091e-01 2.02258866e-02 8.16549561e-03 2.01110081e+02] [-2.02221742e-02 9.99795367e-01 -5.36958318e-04 -7.23774793e+00] [-8.17468514e-03 3.71706495e-04 9.99966518e-01 -4.39795543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844391418 meters 0.03185303642303892 Centerline is valid? [True, True] Translation: X:201.17, Y:-7.24, Z:-4.40 [[ 9.99763999e-01 1.94768474e-02 9.62284041e-03 2.01169036e+02] [-1.94716620e-02 9.99810209e-01 -6.32271726e-04 -7.24051105e+00] [-9.63332875e-03 4.44749813e-04 9.99953500e-01 -4.39741771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904391418 meters 0.03211672795072304 Centerline is valid? [True, True] Translation: X:201.23, Y:-7.24, Z:-4.40 [[ 9.99727828e-01 2.05290403e-02 1.10827763e-02 2.01228697e+02] [-2.05222336e-02 9.99789132e-01 -7.27555565e-04 -7.24208368e+00] [-1.10953754e-02 4.99914219e-04 9.99938319e-01 -4.39742128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964391418 meters 0.02965814833348021 Centerline is valid? [True, True] Translation: X:201.29, Y:-7.24, Z:-4.40 [[ 9.99621897e-01 2.44859915e-02 1.25099934e-02 2.01289514e+02] [-2.44776400e-02 9.99700041e-01 -8.20287405e-04 -7.23782678e+00] [-1.25263265e-02 5.13762136e-04 9.99921411e-01 -4.39734287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024391418 meters 0.02927106161374451 Centerline is valid? [True, True] Translation: X:201.35, Y:-7.24, Z:-4.40 [[ 9.99539970e-01 2.76529872e-02 1.24563725e-02 2.01348524e+02] [-2.76449481e-02 9.99617471e-01 -8.17134142e-04 -7.23790464e+00] [-1.24742038e-02 4.72402463e-04 9.99922083e-01 -4.39917165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08439141799997 meters 0.027673660069680875 Centerline is valid? [True, True] Translation: X:201.41, Y:-7.24, Z:-4.40 [[ 9.99437422e-01 3.13972731e-02 1.17919596e-02 2.01408079e+02] [-3.13903340e-02 9.99506903e-01 -7.73132916e-04 -7.23559487e+00] [-1.18104193e-02 4.02544418e-04 9.99930174e-01 -4.40174334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14439141799997 meters 0.02315402529181918 Centerline is valid? [True, True] Translation: X:201.47, Y:-7.23, Z:-4.40 [[ 9.99407477e-01 3.24524930e-02 1.14686527e-02 2.01467183e+02] [-3.24459977e-02 9.99473207e-01 -7.52009518e-04 -7.22999632e+00] [-1.14870157e-02 3.79452055e-04 9.99933950e-01 -4.40150924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20439141799997 meters 0.022863779183683222 Centerline is valid? [True, True] Translation: X:201.53, Y:-7.23, Z:-4.40 [[ 9.99348938e-01 3.46132885e-02 1.01794193e-02 2.01525378e+02] [-3.46082876e-02 9.99400731e-01 -6.67063014e-04 -7.23083640e+00] [-1.01964084e-02 3.14336442e-04 9.99947966e-01 -4.40489017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26439141799997 meters 0.020522214571447314 Centerline is valid? [True, True] Translation: X:201.59, Y:-7.23, Z:-4.41 [[ 9.99155665e-01 4.00245804e-02 9.27307843e-03 2.01585178e+02] [-4.00206772e-02 9.99198668e-01 -6.06166604e-04 -7.22778727e+00] [-9.28990918e-03 2.34539918e-04 9.99956820e-01 -4.40757773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32439141799998 meters 0.01782826621434577 Centerline is valid? [True, True] Translation: X:201.64, Y:-7.22, Z:-4.41 [[ 9.98912496e-01 4.56278635e-02 9.58768860e-03 2.01644101e+02] [-4.56239478e-02 9.98958489e-01 -6.26839799e-04 -7.22423748e+00] [-9.60630428e-03 1.88729903e-04 9.99953841e-01 -4.40772202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38439141799998 meters 0.015822487959292496 Centerline is valid? [True, True] Translation: X:201.70, Y:-7.22, Z:-4.41 [[ 9.98472589e-01 5.41524896e-02 1.09543496e-02 2.01704239e+02] [-5.41479083e-02 9.98532670e-01 -7.14587101e-04 -7.21980424e+00] [-1.09769726e-02 1.20340514e-04 9.99939744e-01 -4.40708957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44439141799998 meters 0.01523863166070289 Centerline is valid? [True, True] Translation: X:201.76, Y:-7.22, Z:-4.41 [[ 9.98217584e-01 5.85828381e-02 1.13888506e-02 2.01762786e+02] [-5.85781754e-02 9.98282548e-01 -7.42848928e-04 -7.21985278e+00] [-1.14128090e-02 7.43867764e-05 9.99934869e-01 -4.40878856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50439141799998 meters 0.014940231637853326 Centerline is valid? [True, True] Translation: X:201.82, Y:-7.22, Z:-4.41 [[ 9.98070254e-01 6.09688742e-02 1.17713405e-02 2.01821413e+02] [-6.09640706e-02 9.98139667e-01 -7.66799687e-04 -7.22243553e+00] [-1.17961928e-02 4.76911231e-05 9.99930421e-01 -4.41107207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56439141799999 meters 0.01516255333473939 Centerline is valid? [True, True] Translation: X:201.88, Y:-7.23, Z:-4.41 [[ 9.98185674e-01 5.89269585e-02 1.23682627e-02 2.01878963e+02] [-5.89215099e-02 9.98262294e-01 -8.04782291e-04 -7.22982035e+00] [-1.23941937e-02 7.45654420e-05 9.99923186e-01 -4.41281358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624391418 meters 0.015232122314396258 Centerline is valid? [True, True] Translation: X:201.94, Y:-7.24, Z:-4.41 [[ 9.98338236e-01 5.62071548e-02 1.27091514e-02 2.01937159e+02] [-5.62012000e-02 9.98419122e-01 -8.25491803e-04 -7.23681650e+00] [-1.27354584e-02 1.09850470e-04 9.99918895e-01 -4.41323457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684391418 meters 0.016419087372205134 Centerline is valid? [True, True] Translation: X:201.99, Y:-7.25, Z:-4.41 [[ 9.98609559e-01 5.11452378e-02 1.27716002e-02 2.01994937e+02] [-5.11388211e-02 9.98691211e-01 -8.28699447e-04 -7.24710531e+00] [-1.27972689e-02 1.74422610e-04 9.99918096e-01 -4.41460387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744391418 meters 0.01768090423644205 Centerline is valid? [True, True] Translation: X:202.05, Y:-7.26, Z:-4.42 [[ 9.98847808e-01 4.62389921e-02 1.28457239e-02 2.02052707e+02] [-4.62321115e-02 9.98930378e-01 -8.32226760e-04 -7.25772130e+00] [-1.28704652e-02 2.37382933e-04 9.99917144e-01 -4.41571229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804391418 meters 0.018026749739686047 Centerline is valid? [True, True] Translation: X:202.11, Y:-7.27, Z:-4.42 [[ 9.98931021e-01 4.42171882e-02 1.34779317e-02 2.02111347e+02] [-4.42094514e-02 9.99021904e-01 -8.71582845e-04 -7.26503278e+00] [-1.35032880e-02 2.74799174e-04 9.99908789e-01 -4.41641762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86439141799997 meters 0.017992593582717608 Centerline is valid? [True, True] Translation: X:202.17, Y:-7.27, Z:-4.42 [[ 9.98966582e-01 4.28673796e-02 1.51048454e-02 2.02170017e+02] [-4.28575295e-02 9.99080718e-01 -9.75359716e-04 -7.27252112e+00] [-1.51327709e-02 3.26995405e-04 9.99885440e-01 -4.41633632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92439141799997 meters 0.01803156322674141 Centerline is valid? [True, True] Translation: X:202.23, Y:-7.28, Z:-4.42 [[ 9.98934151e-01 4.31712088e-02 1.63342635e-02 2.02228932e+02] [-4.31597552e-02 9.99067628e-01 -1.05323089e-03 -7.27871172e+00] [-1.63645032e-02 3.47125485e-04 9.99866032e-01 -4.41747088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98439141799997 meters 0.017942620962542684 Centerline is valid? [True, True] Translation: X:202.29, Y:-7.28, Z:-4.42 [[ 9.98874037e-01 4.46017158e-02 1.61661846e-02 2.02286091e+02] [-4.45907028e-02 9.99004797e-01 -1.04123298e-03 -7.28486142e+00] [-1.61965368e-02 3.19199056e-04 9.99868777e-01 -4.41971607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04439141799998 meters 0.018048356261698352 Centerline is valid? [True, True] Translation: X:202.35, Y:-7.29, Z:-4.42 [[ 9.98846209e-01 4.50515036e-02 1.66316704e-02 2.02345001e+02] [-4.50399432e-02 9.98984615e-01 -1.06919665e-03 -7.29147911e+00] [-1.66629517e-02 3.18873534e-04 9.99861113e-01 -4.42112079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10439141799998 meters 0.018244612449959202 Centerline is valid? [True, True] Translation: X:202.40, Y:-7.30, Z:-4.42 [[ 9.98884248e-01 4.41597202e-02 1.67385253e-02 2.02403440e+02] [-4.41479081e-02 9.99024428e-01 -1.07472319e-03 -7.29790198e+00] [-1.67696551e-02 3.34553188e-04 9.99859323e-01 -4.42197172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16439141799998 meters 0.018663934304125118 Centerline is valid? [True, True] Translation: X:202.46, Y:-7.30, Z:-4.42 [[ 9.98963351e-01 4.24199124e-02 1.65158837e-02 2.02461463e+02] [-4.24081932e-02 9.99099806e-01 -1.05931234e-03 -7.30444264e+00] [-1.65459521e-02 3.57805421e-04 9.99863042e-01 -4.42330845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22439141799998 meters 0.019363623965439034 Centerline is valid? [True, True] Translation: X:202.52, Y:-7.31, Z:-4.43 [[ 9.99037658e-01 4.09897883e-02 1.56075154e-02 2.02518579e+02] [-4.09791758e-02 9.99159501e-01 -9.99303616e-04 -7.31210879e+00] [-1.56353586e-02 3.58758826e-04 9.99877696e-01 -4.42536630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28439141799998 meters 0.021036052587049513 Centerline is valid? [True, True] Translation: X:202.58, Y:-7.32, Z:-4.43 [[ 9.99153330e-01 3.83196353e-02 1.49742830e-02 2.02577918e+02] [-3.83095943e-02 9.99265460e-01 -9.56927805e-04 -7.32067515e+00] [-1.49999529e-02 3.82458897e-04 9.99887421e-01 -4.42776009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344391418 meters 0.021306706865815445 Centerline is valid? [True, True] Translation: X:202.64, Y:-7.33, Z:-4.43 [[ 9.99237867e-01 3.62484692e-02 1.44821771e-02 2.02636350e+02] [-3.62388633e-02 9.99342728e-01 -9.25247943e-04 -7.32618021e+00] [-1.45061972e-02 3.99725145e-04 9.99894700e-01 -4.42868227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404391418 meters 0.022405274863520917 Centerline is valid? [True, True] Translation: X:202.70, Y:-7.33, Z:-4.43 [[ 9.99379838e-01 3.15635377e-02 1.56103256e-02 2.02695636e+02] [-3.15518313e-02 9.99501621e-01 -9.95694194e-04 -7.33377188e+00] [-1.56339734e-02 5.02542344e-04 9.99877656e-01 -4.42802830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464391418 meters 0.025451130953564962 Centerline is valid? [True, True] Translation: X:202.75, Y:-7.34, Z:-4.43 [[ 9.99480596e-01 2.80184523e-02 1.59218555e-02 2.02754226e+02] [-2.80058433e-02 9.99607245e-01 -1.01439337e-03 -7.34375847e+00] [-1.59440238e-02 5.67961502e-04 9.99872725e-01 -4.42874652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524391418 meters 0.028974211113597225 Centerline is valid? [True, True] Translation: X:202.81, Y:-7.35, Z:-4.43 [[ 9.99646564e-01 2.16873723e-02 1.53754562e-02 2.02814505e+02] [-2.16748571e-02 9.99764592e-01 -9.80166637e-04 -7.35495189e+00] [-1.53930939e-02 6.46559395e-04 9.99881310e-01 -4.42968825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58439141799997 meters 0.03234190949644003 Centerline is valid? [True, True] Translation: X:202.87, Y:-7.37, Z:-4.43 [[ 9.99773090e-01 1.57261039e-02 1.43686629e-02 2.02874673e+02] [-1.57145474e-02 9.99876099e-01 -9.16838446e-04 -7.36611145e+00] [-1.43813009e-02 6.90833371e-04 9.99896345e-01 -4.43154631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64439141799997 meters 0.03753642353548768 Centerline is valid? [True, True] Translation: X:202.93, Y:-7.38, Z:-4.43 [[ 9.99880244e-01 8.08324478e-03 1.31969514e-02 2.02934531e+02] [-8.07283632e-03 9.99967060e-01 -8.41782993e-04 -7.38048327e+00] [-1.32033211e-02 7.35145355e-04 9.99912562e-01 -4.43348694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70439141799997 meters 0.03857363387192021 Centerline is valid? [True, True] Translation: X:203.00, Y:-7.39, Z:-4.43 [[ 9.99910512e-01 4.12505073e-03 1.27260016e-02 2.02995522e+02] [-4.11504532e-03 9.99991203e-01 -8.12302747e-04 -7.38717724e+00] [-1.27292404e-02 7.59861983e-04 9.99918691e-01 -4.43419740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76439141799997 meters 0.04035870502071039 Centerline is valid? [True, True] Translation: X:203.06, Y:-7.39, Z:-4.44 [[ 9.99934326e-01 2.05212177e-03 1.12753136e-02 2.03056388e+02] [-2.04413202e-03 9.99997652e-01 -7.20084460e-04 -7.39406676e+00] [-1.12767649e-02 6.96988939e-04 9.99936172e-01 -4.43597517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82439141799998 meters 0.038516931715051675 Centerline is valid? [True, True] Translation: X:203.12, Y:-7.40, Z:-4.44 [[ 9.99945270e-01 3.75021284e-03 9.76694440e-03 2.03118409e+02] [-3.74430081e-03 9.99992796e-01 -6.23525806e-04 -7.39511876e+00] [-9.76921239e-03 5.86921302e-04 9.99952108e-01 -4.43765287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88439141799998 meters 0.03753824164777177 Centerline is valid? [True, True] Translation: X:203.18, Y:-7.40, Z:-4.44 [[ 9.99926310e-01 7.58576557e-03 9.47790348e-03 2.03179293e+02] [-7.58035671e-03 9.99971085e-01 -6.06474567e-04 -7.39566698e+00] [-9.48223000e-03 5.34583987e-04 9.99954900e-01 -4.43919842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94439141799998 meters 0.03457201072957864 Centerline is valid? [True, True] Translation: X:203.24, Y:-7.39, Z:-4.44 [[ 9.99882151e-01 1.16068922e-02 1.00480926e-02 2.03240139e+02] [-1.16010095e-02 9.99932499e-01 -6.43546624e-04 -7.39332101e+00] [-1.00548839e-02 5.26902766e-04 9.99949310e-01 -4.43935472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00439141799998 meters 0.02830874902645994 Centerline is valid? [True, True] Translation: X:203.30, Y:-7.38, Z:-4.44 [[ 9.99759154e-01 1.87319454e-02 1.14345468e-02 2.03301148e+02] [-1.87247920e-02 9.99824408e-01 -7.32344095e-04 -7.38415035e+00] [-1.14462573e-02 5.18058202e-04 9.99934355e-01 -4.43856198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06439141799999 meters 0.026028425471214273 Centerline is valid? [True, True] Translation: X:203.36, Y:-7.38, Z:-4.44 [[ 9.99541209e-01 2.74340605e-02 1.28352938e-02 2.03361444e+02] [-2.74257631e-02 9.99623505e-01 -8.22059687e-04 -7.37989811e+00] [-1.28530138e-02 4.69664806e-04 9.99917286e-01 -4.43970864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124391418 meters 0.022429257106203502 Centerline is valid? [True, True] Translation: X:203.42, Y:-7.38, Z:-4.44 [[ 9.99339458e-01 3.37552784e-02 1.34621508e-02 2.03421872e+02] [-3.37467212e-02 9.99430045e-01 -8.62373927e-04 -7.37522122e+00] [-1.34835877e-02 4.07500841e-04 9.99909009e-01 -4.44064670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184391418 meters 0.019355747933259542 Centerline is valid? [True, True] Translation: X:203.48, Y:-7.37, Z:-4.44 [[ 9.99035561e-01 4.16929300e-02 1.37712599e-02 2.03481172e+02] [-4.16847303e-02 9.99130425e-01 -8.82048347e-04 -7.36894308e+00] [-1.37960599e-02 3.07146410e-04 9.99904783e-01 -4.44221142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244391418 meters 0.017321043075162974 Centerline is valid? [True, True] Translation: X:203.54, Y:-7.37, Z:-4.44 [[ 9.98836535e-01 4.61986019e-02 1.38299095e-02 2.03540594e+02] [-4.61907669e-02 9.98932244e-01 -8.85587143e-04 -7.36552081e+00] [-1.38560554e-02 2.45742668e-04 9.99903970e-01 -4.44397671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304391418 meters 0.01565251172503952 Centerline is valid? [True, True] Translation: X:203.60, Y:-7.36, Z:-4.45 [[ 9.98598722e-01 5.10888798e-02 1.38028358e-02 2.03600046e+02] [-5.10815573e-02 9.98694095e-01 -8.82768108e-04 -7.36191564e+00] [-1.38299102e-02 1.76460759e-04 9.99904347e-01 -4.44596966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36439141799997 meters 0.01522755016209333 Centerline is valid? [True, True] Translation: X:203.66, Y:-7.36, Z:-4.45 [[ 9.98469733e-01 5.33846511e-02 1.44315773e-02 2.03657500e+02] [-5.33768994e-02 9.98574011e-01 -9.22049349e-04 -7.36230202e+00] [-1.44602214e-02 1.50325516e-04 9.99895434e-01 -4.44771586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42439141799997 meters 0.015200805986908256 Centerline is valid? [True, True] Translation: X:203.72, Y:-7.36, Z:-4.45 [[ 9.98415817e-01 5.38028491e-02 1.64654227e-02 2.03716089e+02] [-5.37928583e-02 9.98551565e-01 -1.04938804e-03 -7.36410161e+00] [-1.64980336e-02 1.62003472e-04 9.99863885e-01 -4.44861191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48439141799997 meters 0.015662775080988574 Centerline is valid? [True, True] Translation: X:203.77, Y:-7.37, Z:-4.45 [[ 9.98475056e-01 5.21274043e-02 1.81740586e-02 2.03774906e+02] [-5.21149836e-02 9.98640421e-01 -1.15669409e-03 -7.36944804e+00] [-1.82096450e-02 2.07789429e-04 9.99834169e-01 -4.44953610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54439141799998 meters 0.016608489321776238 Centerline is valid? [True, True] Translation: X:203.83, Y:-7.38, Z:-4.45 [[ 9.98676135e-01 4.76017951e-02 1.94947765e-02 2.03833452e+02] [-4.75866725e-02 9.98866344e-01 -1.23914433e-03 -7.37626587e+00] [-1.95316616e-02 3.09812330e-04 9.99809191e-01 -4.45017664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60439141799998 meters 0.019204814627574666 Centerline is valid? [True, True] Translation: X:203.89, Y:-7.39, Z:-4.45 [[ 9.98964049e-01 4.12293812e-02 1.92604900e-02 2.03890852e+02] [-4.12134650e-02 9.99149616e-01 -1.22273559e-03 -7.38659597e+00] [-1.92945238e-02 4.27677368e-04 9.99813752e-01 -4.45242800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66439141799998 meters 0.021000531519208325 Centerline is valid? [True, True] Translation: X:203.95, Y:-7.40, Z:-4.45 [[ 9.99095554e-01 3.75271986e-02 1.99946058e-02 2.03949550e+02] [-3.75093384e-02 9.99295473e-01 -1.26766137e-03 -7.39545541e+00] [-2.00280908e-02 5.16530402e-04 9.99799284e-01 -4.45437138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72439141799998 meters 0.023625935891064126 Centerline is valid? [True, True] Translation: X:204.01, Y:-7.41, Z:-4.46 [[ 9.99187585e-01 3.46654289e-02 2.05542640e-02 2.04008757e+02] [-3.46459745e-02 9.99398800e-01 -1.30194188e-03 -7.40540679e+00] [-2.05870391e-02 5.88761653e-04 9.99787891e-01 -4.45652018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78439141799998 meters 0.021099428927587153 Centerline is valid? [True, True] Translation: X:204.07, Y:-7.41, Z:-4.46 [[ 9.99176509e-01 3.45700169e-02 2.12418814e-02 2.04069603e+02] [-3.45492265e-02 9.99402092e-01 -1.34506058e-03 -7.40653800e+00] [-2.12756795e-02 6.10062363e-04 9.99773461e-01 -4.45748450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844391418 meters 0.021421114588589172 Centerline is valid? [True, True] Translation: X:204.13, Y:-7.41, Z:-4.46 [[ 9.99062491e-01 3.69514792e-02 2.25549624e-02 2.04128484e+02] [-3.69286451e-02 9.99316884e-01 -1.42819541e-03 -7.41188455e+00] [-2.25923287e-02 5.93932260e-04 9.99744584e-01 -4.45901978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904391418 meters 0.02010687646045649 Centerline is valid? [True, True] Translation: X:204.19, Y:-7.41, Z:-4.46 [[ 9.98892327e-01 4.10901221e-02 2.29286044e-02 2.04188543e+02] [-4.10676247e-02 9.99155315e-01 -1.45140717e-03 -7.41456963e+00] [-2.29688755e-02 5.08176163e-04 9.99736051e-01 -4.46096021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964391418 meters 0.018133635662516603 Centerline is valid? [True, True] Translation: X:204.25, Y:-7.42, Z:-4.46 [[ 9.98734253e-01 4.43908026e-02 2.36505353e-02 2.04247869e+02] [-4.43677922e-02 9.99014143e-01 -1.49704099e-03 -7.41512905e+00] [-2.36936741e-02 4.45824081e-04 9.99719166e-01 -4.46261415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024391418 meters 0.01779361770850096 Centerline is valid? [True, True] Translation: X:204.31, Y:-7.42, Z:-4.46 [[ 9.98702302e-01 4.49814124e-02 2.38827259e-02 2.04307037e+02] [-4.49581404e-02 9.98987729e-01 -1.51074579e-03 -7.41889595e+00] [-2.39265056e-02 4.35062358e-04 9.99713626e-01 -4.46410181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08439141799997 meters 0.018542081309567013 Centerline is valid? [True, True] Translation: X:204.37, Y:-7.43, Z:-4.47 [[ 9.98789031e-01 4.36825325e-02 2.26342077e-02 2.04366297e+02] [-4.36613257e-02 9.99045365e-01 -1.43050984e-03 -7.42537211e+00] [-2.26750886e-02 4.40538021e-04 9.99742790e-01 -4.46750704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14439141799997 meters 0.019397917175125668 Centerline is valid? [True, True] Translation: X:204.43, Y:-7.43, Z:-4.47 [[ 9.98910254e-01 4.17534299e-02 2.08556007e-02 2.04425640e+02] [-4.17350209e-02 9.99127846e-01 -1.31734881e-03 -7.43154677e+00] [-2.08924153e-02 4.45504296e-04 9.99781630e-01 -4.47052830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20439141799997 meters 0.021040741669494767 Centerline is valid? [True, True] Translation: X:204.49, Y:-7.44, Z:-4.47 [[ 9.99109388e-01 3.74013272e-02 1.95338371e-02 2.04485058e+02] [-3.73843604e-02 9.99300200e-01 -1.23315838e-03 -7.43759615e+00] [-1.95662891e-02 5.01800110e-04 9.99808436e-01 -4.47309884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26439141799997 meters 0.023473899299882674 Centerline is valid? [True, True] Translation: X:204.54, Y:-7.44, Z:-4.47 [[ 9.99210489e-01 3.46072078e-02 1.95125555e-02 2.04544006e+02] [-3.45897614e-02 9.99400837e-01 -1.23100055e-03 -7.44483971e+00] [-1.95434658e-02 5.55094019e-04 9.99808854e-01 -4.47410402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32439141799998 meters 0.02690020756595438 Centerline is valid? [True, True] Translation: X:204.60, Y:-7.45, Z:-4.47 [[ 9.99324342e-01 3.04032594e-02 2.06519111e-02 2.04603511e+02] [-3.03828282e-02 9.99537487e-01 -1.30243089e-03 -7.45263077e+00] [-2.06819575e-02 6.74087429e-04 9.99785878e-01 -4.47370575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38439141799998 meters 0.02529933549731076 Centerline is valid? [True, True] Translation: X:204.67, Y:-7.45, Z:-4.47 [[ 9.99396623e-01 2.76457137e-02 2.10263022e-02 2.04665101e+02] [-2.76239261e-02 9.99617507e-01 -1.32600290e-03 -7.45258325e+00] [-2.10549181e-02 7.44373805e-04 9.99778044e-01 -4.47381075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44439141799998 meters 0.03388541282485245 Centerline is valid? [True, True] Translation: X:204.72, Y:-7.47, Z:-4.48 [[ 9.99525069e-01 2.30313876e-02 2.04741636e-02 2.04724359e+02] [-2.30097452e-02 9.99734406e-01 -1.29204200e-03 -7.46649139e+00] [-2.04984833e-02 8.20323086e-04 9.99789547e-01 -4.47538654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50439141799998 meters 0.03808843358662006 Centerline is valid? [True, True] Translation: X:204.78, Y:-7.47, Z:-4.48 [[ 9.99656350e-01 1.86441255e-02 1.84276424e-02 2.04783626e+02] [-1.86258500e-02 9.99825848e-01 -1.16289430e-03 -7.47379329e+00] [-1.84461143e-02 8.19264164e-04 9.99829520e-01 -4.47841312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56439141799999 meters 0.031896180426459544 Centerline is valid? [True, True] Translation: X:204.85, Y:-7.47, Z:-4.48 [[ 9.99713426e-01 1.69176844e-02 1.69368765e-02 2.04845877e+02] [-1.69020213e-02 9.99856581e-01 -1.06752020e-03 -7.46705399e+00] [-1.69525074e-02 7.80946827e-04 9.99855991e-01 -4.47945757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624391418 meters 0.0323130081825252 Centerline is valid? [True, True] Translation: X:204.91, Y:-7.47, Z:-4.48 [[ 9.99732076e-01 1.75567436e-02 1.50843053e-02 2.04908916e+02] [-1.75443494e-02 9.99845631e-01 -9.53610491e-04 -7.46592714e+00] [-1.50987191e-02 6.88710673e-04 9.99885771e-01 -4.48139797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684391418 meters 0.029748436879970565 Centerline is valid? [True, True] Translation: X:204.97, Y:-7.46, Z:-4.48 [[ 9.99703120e-01 2.03131437e-02 1.34554306e-02 2.04971652e+02] [-2.03034805e-02 9.99793498e-01 -8.54391004e-04 -7.46181934e+00] [-1.34700074e-02 5.80945279e-04 9.99909107e-01 -4.48323069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744391418 meters 0.02810245266506571 Centerline is valid? [True, True] Translation: X:205.03, Y:-7.46, Z:-4.49 [[ 9.99619726e-01 2.50632315e-02 1.14994684e-02 2.05032244e+02] [-2.50564272e-02 9.99685768e-01 -7.35414494e-04 -7.45586803e+00] [-1.15142868e-02 4.46999241e-04 9.99933608e-01 -4.48519451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80439141799997 meters 0.02465585802407853 Centerline is valid? [True, True] Translation: X:205.09, Y:-7.45, Z:-4.49 [[ 9.99545731e-01 2.78726777e-02 1.14649794e-02 2.05092433e+02] [-2.78660939e-02 9.99611396e-01 -7.33637253e-04 -7.44935639e+00] [-1.14809725e-02 4.13819792e-04 9.99934006e-01 -4.48551609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86439141799997 meters 0.0242562483572 Centerline is valid? [True, True] Translation: X:205.15, Y:-7.44, Z:-4.49 [[ 9.99480614e-01 3.02374398e-02 1.11444475e-02 2.05150994e+02] [-3.02313658e-02 9.99542673e-01 -7.13123565e-04 -7.44472031e+00] [-1.11609138e-02 3.75841311e-04 9.99937644e-01 -4.48693206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92439141799997 meters 0.024172389706682514 Centerline is valid? [True, True] Translation: X:205.21, Y:-7.44, Z:-4.49 [[ 9.99470446e-01 3.06580402e-02 1.09046617e-02 2.05210458e+02] [-3.06522613e-02 9.99529866e-01 -6.96717502e-04 -7.44398808e+00] [-1.09208950e-02 3.62096012e-04 9.99940300e-01 -4.48797176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98439141799997 meters 0.02482374953566809 Centerline is valid? [True, True] Translation: X:205.27, Y:-7.44, Z:-4.49 [[ 9.99469920e-01 3.06570601e-02 1.09554918e-02 2.05268570e+02] [-3.06512299e-02 9.99529896e-01 -6.99728606e-04 -7.44214741e+00] [-1.09717932e-02 3.63558398e-04 9.99939742e-01 -4.48883130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04439141799998 meters 0.025863745247887728 Centerline is valid? [True, True] Translation: X:205.33, Y:-7.44, Z:-4.49 [[ 9.99481423e-01 3.00260372e-02 1.16328131e-02 2.05326723e+02] [-3.00194358e-02 9.99549040e-01 -7.41710953e-04 -7.44132899e+00] [-1.16498379e-02 3.92115831e-04 9.99932061e-01 -4.49050308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10439141799998 meters 0.026332869562031205 Centerline is valid? [True, True] Translation: X:205.39, Y:-7.44, Z:-4.49 [[ 9.99480965e-01 3.00347972e-02 1.16495623e-02 2.05385523e+02] [-3.00281928e-02 9.99548777e-01 -7.41463289e-04 -7.44191313e+00] [-1.16665754e-02 3.91263142e-04 9.99931867e-01 -4.49245725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16439141799998 meters 0.023121910749599402 Centerline is valid? [True, True] Translation: X:205.45, Y:-7.43, Z:-4.49 [[ 9.99468152e-01 3.06664669e-02 1.10896510e-02 2.05445387e+02] [-3.06605310e-02 9.99529607e-01 -7.04923192e-04 -7.43475060e+00] [-1.11060520e-02 3.64533693e-04 9.99938259e-01 -4.49258265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22439141799998 meters 0.022944381907478374 Centerline is valid? [True, True] Translation: X:205.50, Y:-7.43, Z:-4.49 [[ 9.99445636e-01 3.15738474e-02 1.05599207e-02 2.05504536e+02] [-3.15685193e-02 9.99501365e-01 -6.70903796e-04 -7.43340459e+00] [-1.05758382e-02 3.37170812e-04 9.99944017e-01 -4.49385605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28439141799998 meters 0.021705706253465327 Centerline is valid? [True, True] Translation: X:205.56, Y:-7.43, Z:-4.49 [[ 9.99377156e-01 3.35648695e-02 1.08949075e-02 2.05564024e+02] [-3.35593262e-02 9.99436488e-01 -6.91266415e-04 -7.43012132e+00] [-1.09119703e-02 3.25210111e-04 9.99940410e-01 -4.49424214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344391418 meters 0.021080988501451327 Centerline is valid? [True, True] Translation: X:205.62, Y:-7.43, Z:-4.50 [[ 9.99321626e-01 3.50641409e-02 1.12602406e-02 2.05623299e+02] [-3.50583256e-02 9.99385013e-01 -7.13475027e-04 -7.42836969e+00] [-1.12783331e-02 3.18225843e-04 9.99936347e-01 -4.49505193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404391418 meters 0.021886625741882614 Centerline is valid? [True, True] Translation: X:205.68, Y:-7.43, Z:-4.50 [[ 9.99339049e-01 3.46984244e-02 1.08389979e-02 2.05681340e+02] [-3.46930211e-02 9.99397780e-01 -6.86188599e-04 -7.43016510e+00] [-1.08562801e-02 3.09697479e-04 9.99941021e-01 -4.49622071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464391418 meters 0.02327591788044493 Centerline is valid? [True, True] Translation: X:205.74, Y:-7.43, Z:-4.50 [[ 9.99404181e-01 3.26662725e-02 1.11444337e-02 2.05740365e+02] [-3.26604496e-02 9.99466257e-01 -7.04144285e-04 -7.43349361e+00] [-1.11614872e-02 3.39742527e-04 9.99937651e-01 -4.49650386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524391418 meters 0.025717236060081444 Centerline is valid? [True, True] Translation: X:205.80, Y:-7.44, Z:-4.50 [[ 9.99531077e-01 2.84671306e-02 1.12804924e-02 2.05799636e+02] [-2.84609122e-02 9.99594653e-01 -7.11438535e-04 -7.44135691e+00] [-1.12961725e-02 3.90051822e-04 9.99936120e-01 -4.49803172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58439141799997 meters 0.027633769878776148 Centerline is valid? [True, True] Translation: X:205.86, Y:-7.45, Z:-4.50 [[ 9.99582036e-01 2.69192735e-02 1.05407166e-02 2.05856637e+02] [-2.69137552e-02 9.99637538e-01 -6.65047987e-04 -7.44738087e+00] [-1.05547986e-02 3.81079755e-04 9.99944224e-01 -4.50065774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64439141799997 meters 0.0248300196516499 Centerline is valid? [True, True] Translation: X:205.92, Y:-7.45, Z:-4.50 [[ 9.99559024e-01 2.79565114e-02 1.00094976e-02 2.05915661e+02] [-2.79515970e-02 9.99609079e-01 -6.30557513e-04 -7.44545761e+00] [-1.00232129e-02 3.50498009e-04 9.99949705e-01 -4.50090514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70439141799997 meters 0.023928265071470795 Centerline is valid? [True, True] Translation: X:205.98, Y:-7.45, Z:-4.50 [[ 9.99459734e-01 3.08715737e-02 1.12777069e-02 2.05975141e+02] [-3.08655354e-02 9.99523294e-01 -7.09122659e-04 -7.44652317e+00] [-1.12942225e-02 3.60647081e-04 9.99936153e-01 -4.50190333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76439141799997 meters 0.019690808424047607 Centerline is valid? [True, True] Translation: X:206.04, Y:-7.44, Z:-4.50 [[ 9.99159196e-01 3.89543093e-02 1.27852849e-02 2.06035544e+02] [-3.89472259e-02 9.99240947e-01 -8.02647282e-04 -7.44170049e+00] [-1.28068468e-02 3.04021033e-04 9.99917943e-01 -4.50186206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82439141799998 meters 0.016175782953728565 Centerline is valid? [True, True] Translation: X:206.10, Y:-7.43, Z:-4.50 [[ 9.98687863e-01 4.94220226e-02 1.34169692e-02 2.06095776e+02] [-4.94151673e-02 9.98777969e-01 -8.42186064e-04 -7.43439435e+00] [-1.34421958e-02 1.78079222e-04 9.99909634e-01 -4.50223797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88439141799998 meters 0.014792504807372781 Centerline is valid? [True, True] Translation: X:206.16, Y:-7.43, Z:-4.50 [[ 9.98380176e-01 5.53619060e-02 1.31180426e-02 2.06155014e+02] [-5.53558673e-02 9.98466349e-01 -8.23264488e-04 -7.43218560e+00] [-1.31435016e-02 9.57703195e-05 9.99913616e-01 -4.50325870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94439141799998 meters 0.014729216543871989 Centerline is valid? [True, True] Translation: X:206.21, Y:-7.43, Z:-4.50 [[ 9.98230684e-01 5.80052145e-02 1.30727336e-02 2.06213324e+02] [-5.79994574e-02 9.98316278e-01 -8.19397863e-04 -7.43391641e+00] [-1.30982521e-02 5.97366344e-05 9.99914212e-01 -4.50491848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00439141799998 meters 0.01438674825945393 Centerline is valid? [True, True] Translation: X:206.27, Y:-7.43, Z:-4.51 [[ 9.97912296e-01 6.32693572e-02 1.29629373e-02 2.06272393e+02] [-6.32641534e-02 9.97996487e-01 -8.11523066e-04 -7.43438194e+00] [-1.29883105e-02 -1.02604086e-05 9.99915648e-01 -4.50721927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06439141799999 meters 0.014458711456355074 Centerline is valid? [True, True] Translation: X:206.33, Y:-7.44, Z:-4.51 [[ 9.97781967e-01 6.54070587e-02 1.23718562e-02 2.06329619e+02] [-6.54024846e-02 9.97858665e-01 -7.74379139e-04 -7.43663922e+00] [-1.23960138e-02 -3.64885925e-05 9.99923166e-01 -4.50915649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124391418 meters 0.014084102616657827 Centerline is valid? [True, True] Translation: X:206.39, Y:-7.44, Z:-4.51 [[ 9.97819056e-01 6.48980648e-02 1.20570574e-02 2.06386878e+02] [-6.48936836e-02 9.97891898e-01 -7.54661821e-04 -7.44132209e+00] [-1.20806160e-02 -2.94109206e-05 9.99927026e-01 -4.50870564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184391418 meters 0.014017685674740113 Centerline is valid? [True, True] Translation: X:206.44, Y:-7.45, Z:-4.51 [[ 9.98003906e-01 6.19043090e-02 1.24923910e-02 2.06443909e+02] [-6.18994461e-02 9.98082089e-01 -7.75922477e-04 -7.45011841e+00] [-1.25164646e-02 1.10158185e-06 9.99921666e-01 -4.51084466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244391418 meters 0.013783735732581933 Centerline is valid? [True, True] Translation: X:206.50, Y:-7.46, Z:-4.51 [[ 9.98190984e-01 5.87932593e-02 1.25742836e-02 2.06502201e+02] [-5.87881164e-02 9.98270179e-01 -7.78551890e-04 -7.45883149e+00] [-1.25983060e-02 3.79250276e-05 9.99920637e-01 -4.51175293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30439141799997 meters 0.014816480583325907 Centerline is valid? [True, True] Translation: X:206.56, Y:-7.47, Z:-4.51 [[ 9.98615387e-01 5.08717593e-02 1.33930219e-02 2.06560597e+02] [-5.08652278e-02 9.98705183e-01 -8.28083390e-04 -7.47161265e+00] [-1.34178064e-02 1.45697707e-04 9.99909967e-01 -4.51238626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36439141799997 meters 0.0167713815752306 Centerline is valid? [True, True] Translation: X:206.62, Y:-7.48, Z:-4.51 [[ 9.98908453e-01 4.47305281e-02 1.34567186e-02 2.06617480e+02] [-4.47233894e-02 9.98999063e-01 -8.31102055e-04 -7.48314692e+00] [-1.34804249e-02 2.28364804e-04 9.99909109e-01 -4.51423534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42439141799997 meters 0.020543652483342383 Centerline is valid? [True, True] Translation: X:206.68, Y:-7.50, Z:-4.52 [[ 9.99318848e-01 3.47822204e-02 1.23303505e-02 2.06676237e+02] [-3.47754909e-02 9.99394861e-01 -7.59813149e-04 -7.49998573e+00] [-1.23493169e-02 3.30501608e-04 9.99923690e-01 -4.51706986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48439141799997 meters 0.025713143224229976 Centerline is valid? [True, True] Translation: X:206.74, Y:-7.52, Z:-4.52 [[ 9.99610970e-01 2.46579464e-02 1.30343894e-02 2.06735732e+02] [-2.46495739e-02 9.99695831e-01 -8.02624223e-04 -7.51611710e+00] [-1.30502158e-02 4.81019834e-04 9.99914727e-01 -4.51745214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54439141799998 meters 0.028972931686603594 Centerline is valid? [True, True] Translation: X:206.80, Y:-7.53, Z:-4.52 [[ 9.99722549e-01 1.91331910e-02 1.37384946e-02 2.06795276e+02] [-1.91233671e-02 9.99816774e-01 -8.46091059e-04 -7.52729469e+00] [-1.37521658e-02 5.83130033e-04 9.99905264e-01 -4.51748863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60439141799998 meters 0.031017737235880596 Centerline is valid? [True, True] Translation: X:206.85, Y:-7.54, Z:-4.52 [[ 9.99833551e-01 1.27687562e-02 1.30318786e-02 2.06854956e+02] [-1.27593832e-02 9.99918274e-01 -8.02126012e-04 -7.53680711e+00] [-1.30410557e-02 6.35713767e-04 9.99914760e-01 -4.51823330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66439141799998 meters 0.03309225068753938 Centerline is valid? [True, True] Translation: X:206.92, Y:-7.55, Z:-4.52 [[ 9.99879934e-01 1.00650412e-02 1.17818834e-02 2.06916030e+02] [-1.00571967e-02 9.99949162e-01 -7.24864966e-04 -7.54560658e+00] [-1.17885803e-02 6.06285215e-04 9.99930328e-01 -4.52083565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72439141799998 meters 0.03522083186118762 Centerline is valid? [True, True] Translation: X:206.98, Y:-7.55, Z:-4.52 [[ 9.99905599e-01 8.93313018e-03 1.04399476e-02 2.06976217e+02] [-8.92691799e-03 9.99959949e-01 -6.41488620e-04 -7.55415458e+00] [-1.04452600e-02 5.48231506e-04 9.99945296e-01 -4.52367052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78439141799998 meters 0.031709832637276024 Centerline is valid? [True, True] Translation: X:207.04, Y:-7.55, Z:-4.52 [[ 9.99895090e-01 1.04436018e-02 1.00369582e-02 2.07038218e+02] [-1.04379140e-02 9.99945332e-01 -6.18907773e-04 -7.55332029e+00] [-1.00428731e-02 5.14077937e-04 9.99949437e-01 -4.52423174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844391418 meters 0.02944946477451191 Centerline is valid? [True, True] Translation: X:207.10, Y:-7.55, Z:-4.53 [[ 9.99809496e-01 1.71791688e-02 9.26546230e-03 2.07098296e+02] [-1.71745966e-02 9.99852342e-01 -5.72810702e-04 -7.55161558e+00] [-9.27393459e-03 4.13571001e-04 9.99956911e-01 -4.52539300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904391418 meters 0.024518798228605417 Centerline is valid? [True, True] Translation: X:207.16, Y:-7.54, Z:-4.53 [[ 9.99564788e-01 2.77765480e-02 9.93472636e-03 2.07159322e+02] [-2.77718166e-02 9.99614100e-01 -6.13912530e-04 -7.54473153e+00] [-9.94794492e-03 3.37739949e-04 9.99950461e-01 -4.52559174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964391418 meters 0.01990871891608207 Centerline is valid? [True, True] Translation: X:207.22, Y:-7.54, Z:-4.53 [[ 9.99162305e-01 3.94815436e-02 1.07655356e-02 2.07219924e+02] [-3.94766689e-02 9.99220271e-01 -6.65007070e-04 -7.53584953e+00] [-1.07833969e-02 2.39462514e-04 9.99941829e-01 -4.52603318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024391418 meters 0.017159407211352076 Centerline is valid? [True, True] Translation: X:207.28, Y:-7.53, Z:-4.53 [[ 9.98844472e-01 4.68623214e-02 1.06603863e-02 2.07280257e+02] [-4.68579601e-02 9.98901345e-01 -6.58651625e-04 -7.53135552e+00] [-1.06795402e-02 1.58366578e-04 9.99942960e-01 -4.52762178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08439141799997 meters 0.014926559757253832 Centerline is valid? [True, True] Translation: X:207.34, Y:-7.52, Z:-4.53 [[ 9.98375373e-01 5.60274140e-02 1.03703002e-02 2.07339503e+02] [-5.60237757e-02 9.98429229e-01 -6.41237022e-04 -7.52484012e+00] [-1.03899377e-02 5.92118786e-05 9.99946021e-01 -4.52841677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14439141799997 meters 0.01463092996650912 Centerline is valid? [True, True] Translation: X:207.40, Y:-7.52, Z:-4.53 [[ 9.98087577e-01 6.09819316e-02 1.01189380e-02 2.07396963e+02] [-6.09787217e-02 9.98138870e-01 -6.25732093e-04 -7.52361555e+00] [-1.01382637e-02 7.49552484e-06 9.99948606e-01 -4.53055075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20439141799997 meters 0.015558289459894953 Centerline is valid? [True, True] Translation: X:207.46, Y:-7.52, Z:-4.53 [[ 9.97624162e-01 6.82013857e-02 9.72636894e-03 2.07455727e+02] [-6.81987609e-02 9.97671573e-01 -6.01664316e-04 -7.52062943e+00] [-9.74475614e-03 -6.30914508e-05 9.99952517e-01 -4.53130331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26439141799997 meters 0.016214038158925047 Centerline is valid? [True, True] Translation: X:207.51, Y:-7.52, Z:-4.53 [[ 9.97280658e-01 7.29677480e-02 1.03438910e-02 2.07514420e+02] [-7.29650667e-02 9.97334294e-01 -6.36867044e-04 -7.52161665e+00] [-1.03627879e-02 -1.19607509e-04 9.99946298e-01 -4.53090749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32439141799998 meters 0.017758436624177094 Centerline is valid? [True, True] Translation: X:207.57, Y:-7.52, Z:-4.53 [[ 9.96858157e-01 7.84556290e-02 1.08871309e-02 2.07573294e+02] [-7.84530219e-02 9.96917589e-01 -6.66993769e-04 -7.52360318e+00] [-1.09059017e-02 -1.89230137e-04 9.99940511e-01 -4.53166310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38439141799998 meters 0.018228925765495434 Centerline is valid? [True, True] Translation: X:207.63, Y:-7.53, Z:-4.53 [[ 9.96862893e-01 7.84327482e-02 1.06149325e-02 2.07630805e+02] [-7.84303203e-02 9.96919389e-01 -6.45451972e-04 -7.52903474e+00] [-1.06328566e-02 -1.89105440e-04 9.99943452e-01 -4.53432150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44439141799998 meters 0.017143021901790925 Centerline is valid? [True, True] Translation: X:207.69, Y:-7.54, Z:-4.54 [[ 9.97149548e-01 7.47340254e-02 1.03732989e-02 2.07689171e+02] [-7.47314958e-02 9.97203492e-01 -6.31805677e-04 -7.53856422e+00] [-1.03915073e-02 -1.45207399e-04 9.99945996e-01 -4.53666921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50439141799998 meters 0.015031753564303628 Centerline is valid? [True, True] Translation: X:207.75, Y:-7.56, Z:-4.54 [[ 9.97746820e-01 6.61455933e-02 1.12269534e-02 2.07746942e+02] [-6.61421492e-02 9.97809980e-01 -6.78199617e-04 -7.55516306e+00] [-1.12472261e-02 -6.59033161e-05 9.99936746e-01 -4.53760500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56439141799999 meters 0.014448265276455338 Centerline is valid? [True, True] Translation: X:207.81, Y:-7.57, Z:-4.54 [[ 9.98135671e-01 5.98243474e-02 1.20925641e-02 2.07805555e+02] [-5.98198919e-02 9.98208920e-01 -7.30141617e-04 -7.56803244e+00] [-1.21145856e-02 5.40451393e-06 9.99926616e-01 -4.53853646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624391418 meters 0.01499021706992394 Centerline is valid? [True, True] Translation: X:207.86, Y:-7.59, Z:-4.54 [[ 9.98614050e-01 5.10078240e-02 1.29684595e-02 2.07862918e+02] [-5.10019902e-02 9.98698247e-01 -7.80385695e-04 -7.58564940e+00] [-1.29913836e-02 1.17886873e-04 9.99915601e-01 -4.54000948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684391418 meters 0.017188835362476024 Centerline is valid? [True, True] Translation: X:207.92, Y:-7.60, Z:-4.54 [[ 9.98907052e-01 4.46249123e-02 1.39038923e-02 2.07919095e+02] [-4.46176075e-02 9.99003789e-01 -8.35283931e-04 -7.60386495e+00] [-1.39273155e-02 2.14012601e-04 9.99902987e-01 -4.54253931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744391418 meters 0.017282117736093425 Centerline is valid? [True, True] Translation: X:207.98, Y:-7.61, Z:-4.54 [[ 9.99034117e-01 4.17112139e-02 1.38205736e-02 2.07977302e+02] [-4.17037439e-02 9.99129677e-01 -8.28378920e-04 -7.61195885e+00] [-1.38430980e-02 2.51209140e-04 9.99904148e-01 -4.54314919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80439141799997 meters 0.018158893195780224 Centerline is valid? [True, True] Translation: X:208.03, Y:-7.62, Z:-4.54 [[ 9.99121862e-01 3.97388565e-02 1.32788713e-02 2.08034130e+02] [-3.97317978e-02 9.99210064e-01 -7.95065384e-04 -7.62388630e+00] [-1.32999768e-02 2.66773777e-04 9.99911516e-01 -4.54484383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86439141799997 meters 0.01814897964780893 Centerline is valid? [True, True] Translation: X:208.09, Y:-7.63, Z:-4.55 [[ 9.99131241e-01 3.96231302e-02 1.29140024e-02 2.08093042e+02] [-3.96164625e-02 9.99214662e-01 -7.71819675e-04 -7.62926135e+00] [-1.29344425e-02 2.59542057e-04 9.99916313e-01 -4.54635406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92439141799997 meters 0.01738005055188963 Centerline is valid? [True, True] Translation: X:208.15, Y:-7.64, Z:-4.55 [[ 9.99044364e-01 4.20664988e-02 1.18646085e-02 2.08151974e+02] [-4.20610550e-02 9.99114791e-01 -7.08092699e-04 -7.63723483e+00] [-1.18838928e-02 2.08378071e-04 9.99929362e-01 -4.54857738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98439141799997 meters 0.01656533402656194 Centerline is valid? [True, True] Translation: X:208.21, Y:-7.64, Z:-4.55 [[ 9.98915552e-01 4.51083230e-02 1.15307766e-02 2.08211080e+02] [-4.51033913e-02 9.98982088e-01 -6.87521915e-04 -7.64154251e+00] [-1.15500522e-02 1.66699204e-04 9.99933282e-01 -4.54962000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04439141799998 meters 0.01562571799130812 Centerline is valid? [True, True] Translation: X:208.27, Y:-7.65, Z:-4.55 [[ 9.98655229e-01 5.05093468e-02 1.16850223e-02 2.08269010e+02] [-5.05046557e-02 9.98723583e-01 -6.96392641e-04 -7.64676686e+00] [-1.17052816e-02 1.05308126e-04 9.99931485e-01 -4.55138382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10439141799998 meters 0.01507962046514968 Centerline is valid? [True, True] Translation: X:208.33, Y:-7.65, Z:-4.55 [[ 9.98372381e-01 5.58807925e-02 1.13985106e-02 2.08328057e+02] [-5.58766934e-02 9.98437447e-01 -6.78022785e-04 -7.65112312e+00] [-1.14185883e-02 4.00081408e-05 9.99934805e-01 -4.55189620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16439141799998 meters 0.01519833004118524 Centerline is valid? [True, True] Translation: X:208.39, Y:-7.66, Z:-4.55 [[ 9.98226837e-01 5.83459541e-02 1.17869430e-02 2.08385577e+02] [-5.83417467e-02 9.98296424e-01 -7.00777965e-04 -7.65603574e+00] [-1.18077506e-02 1.18645304e-05 9.99930286e-01 -4.55356827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22439141799998 meters 0.015288310944085096 Centerline is valid? [True, True] Translation: X:208.44, Y:-7.67, Z:-4.55 [[ 9.98215769e-01 5.86216192e-02 1.13483325e-02 2.08443570e+02] [-5.86177612e-02 9.98280274e-01 -6.72564176e-04 -7.66625169e+00] [-1.13682433e-02 6.15032142e-06 9.99935379e-01 -4.55440232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28439141799998 meters 0.01549779521329752 Centerline is valid? [True, True] Translation: X:208.50, Y:-7.68, Z:-4.56 [[ 9.98382082e-01 5.56786664e-02 1.15371128e-02 2.08500491e+02] [-5.56744908e-02 9.98448739e-01 -6.83029736e-04 -7.68039453e+00] [-1.15572459e-02 3.96017705e-05 9.99933212e-01 -4.55651922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344391418 meters 0.015167847317279175 Centerline is valid? [True, True] Translation: X:208.56, Y:-7.69, Z:-4.55 [[ 9.98502375e-01 5.33497689e-02 1.21165142e-02 2.08558855e+02] [-5.33450081e-02 9.98575885e-01 -7.15994372e-04 -7.68920392e+00] [-1.21374571e-02 6.85665301e-05 9.99926336e-01 -4.55444322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404391418 meters 0.015789283104976713 Centerline is valid? [True, True] Translation: X:208.62, Y:-7.70, Z:-4.56 [[ 9.98638071e-01 5.05384348e-02 1.29564624e-02 2.08616224e+02] [-5.05327664e-02 9.98722111e-01 -7.64705830e-04 -7.70226248e+00] [-1.29785525e-02 1.08938467e-04 9.99915769e-01 -4.55576486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464391418 meters 0.016092551369831714 Centerline is valid? [True, True] Translation: X:208.67, Y:-7.71, Z:-4.56 [[ 9.98729090e-01 4.84787690e-02 1.37845834e-02 2.08674529e+02] [-4.84721843e-02 9.98824203e-01 -8.11576380e-04 -7.71184519e+00] [-1.38077197e-02 1.42376074e-04 9.99904659e-01 -4.55646751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524391418 meters 0.01664654883233248 Centerline is valid? [True, True] Translation: X:208.73, Y:-7.72, Z:-4.56 [[ 9.98821369e-01 4.62571303e-02 1.47020962e-02 2.08731931e+02] [-4.62494164e-02 9.98929549e-01 -8.64436020e-04 -7.72332108e+00] [-1.47263447e-02 1.83453797e-04 9.99891545e-01 -4.55793453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58439141799997 meters 0.017026757415583772 Centerline is valid? [True, True] Translation: X:208.79, Y:-7.73, Z:-4.56 [[ 9.98858936e-01 4.52029931e-02 1.54115108e-02 2.08790690e+02] [-4.51944185e-02 9.98977801e-01 -9.04382123e-04 -7.73186526e+00] [-1.54366380e-02 2.06835896e-04 9.99880827e-01 -4.55936037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64439141799997 meters 0.017018510024251685 Centerline is valid? [True, True] Translation: X:208.85, Y:-7.74, Z:-4.56 [[ 9.98894464e-01 4.43579709e-02 1.55633938e-02 2.08849456e+02] [-4.43491426e-02 9.99015676e-01 -9.12090507e-04 -7.74058720e+00] [-1.55885329e-02 2.20858987e-04 9.99878467e-01 -4.56077808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70439141799997 meters 0.016759857950561972 Centerline is valid? [True, True] Translation: X:208.91, Y:-7.75, Z:-4.56 [[ 9.98904319e-01 4.44263555e-02 1.47125624e-02 2.08907676e+02] [-4.44184894e-02 9.99012641e-01 -8.61157244e-04 -7.74636066e+00] [-1.47362939e-02 2.06703892e-04 9.99891394e-01 -4.56295725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76439141799997 meters 0.016742600636130846 Centerline is valid? [True, True] Translation: X:208.97, Y:-7.75, Z:-4.57 [[ 9.98913574e-01 4.46093687e-02 1.34787406e-02 2.08966452e+02] [-4.46027961e-02 9.99004489e-01 -7.87991508e-04 -7.75367242e+00] [-1.35004742e-02 1.85945894e-04 9.99908847e-01 -4.56652442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82439141799998 meters 0.01836450388999125 Centerline is valid? [True, True] Translation: X:209.02, Y:-7.76, Z:-4.57 [[ 9.98942217e-01 4.35892393e-02 1.46432815e-02 2.09024176e+02] [-4.35813915e-02 9.99049514e-01 -8.54762179e-04 -7.76368556e+00] [-1.46666217e-02 2.15683441e-04 9.99892416e-01 -4.56917791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88439141799998 meters 0.018457873495457248 Centerline is valid? [True, True] Translation: X:209.08, Y:-7.77, Z:-4.57 [[ 9.98986268e-01 4.25233161e-02 1.47716952e-02 2.09083378e+02] [-4.25152363e-02 9.99095448e-01 -8.60718688e-04 -7.76833104e+00] [-1.47949340e-02 2.31824041e-04 9.99890522e-01 -4.57018845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94439141799998 meters 0.019568556971585736 Centerline is valid? [True, True] Translation: X:209.14, Y:-7.78, Z:-4.57 [[ 9.99073409e-01 4.03486808e-02 1.49768729e-02 2.09141874e+02] [-4.03401382e-02 9.99185625e-01 -8.72172904e-04 -7.77574272e+00] [-1.49998671e-02 2.67195636e-04 9.99887460e-01 -4.57223438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00439141799998 meters 0.018440980332990367 Centerline is valid? [True, True] Translation: X:209.20, Y:-7.78, Z:-4.57 [[ 9.99139851e-01 3.81526725e-02 1.62459704e-02 2.09201316e+02] [-3.81423505e-02 9.99271869e-01 -9.44850960e-04 -7.77891188e+00] [-1.62701898e-02 3.24378751e-04 9.99867579e-01 -4.57175807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06439141799999 meters 0.020897920910069947 Centerline is valid? [True, True] Translation: X:209.26, Y:-7.79, Z:-4.57 [[ 9.99308811e-01 3.24171450e-02 1.81942165e-02 2.09259847e+02] [-3.24032705e-02 9.99474317e-01 -1.05693853e-03 -7.78982333e+00] [-1.82189151e-02 4.66655861e-04 9.99833913e-01 -4.57190994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124391418 meters 0.02317080827547725 Centerline is valid? [True, True] Translation: X:209.32, Y:-7.80, Z:-4.57 [[ 9.99424182e-01 2.82367991e-02 1.88145537e-02 2.09321124e+02] [-2.82212207e-02 9.99601104e-01 -1.09304320e-03 -7.79858800e+00] [-1.88379127e-02 5.61444129e-04 9.99822393e-01 -4.57335355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184391418 meters 0.02568861441363816 Centerline is valid? [True, True] Translation: X:209.38, Y:-7.81, Z:-4.58 [[ 9.99562896e-01 2.37302589e-02 1.76321483e-02 2.09381703e+02] [-2.37157873e-02 9.99718211e-01 -1.02942421e-03 -7.80794394e+00] [-1.76516082e-02 6.10813970e-04 9.99844012e-01 -4.57684819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244391418 meters 0.024905340359271045 Centerline is valid? [True, True] Translation: X:209.44, Y:-7.81, Z:-4.58 [[ 9.99590821e-01 2.29911979e-02 1.70175255e-02 2.09443361e+02] [-2.29776130e-02 9.99735486e-01 -9.93413160e-04 -7.81015081e+00] [-1.70358639e-02 6.01984562e-04 9.99854698e-01 -4.57840381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30439141799997 meters 0.02461376795132382 Centerline is valid? [True, True] Translation: X:209.51, Y:-7.81, Z:-4.58 [[ 9.99566572e-01 2.35974526e-02 1.76019496e-02 2.09505148e+02] [-2.35829287e-02 9.99721351e-01 -1.03227202e-03 -7.81249311e+00] [-1.76214039e-02 6.16719081e-04 9.99844541e-01 -4.57920084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36439141799997 meters 0.02462998881158242 Centerline is valid? [True, True] Translation: X:209.57, Y:-7.81, Z:-4.58 [[ 9.99504330e-01 2.53974488e-02 1.86027810e-02 2.09566040e+02] [-2.53814307e-02 9.99677238e-01 -1.09669947e-03 -7.81325114e+00] [-1.86246301e-02 6.23990672e-04 9.99826352e-01 -4.57938438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42439141799997 meters 0.02442481220476503 Centerline is valid? [True, True] Translation: X:209.63, Y:-7.81, Z:-4.58 [[ 9.99477458e-01 2.65370479e-02 1.84552282e-02 2.09627998e+02] [-2.65213904e-02 9.99647649e-01 -1.09268205e-03 -7.81440290e+00] [-1.84777221e-02 6.02652769e-04 9.99829091e-01 -4.58246948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48439141799997 meters 0.026146108068314577 Centerline is valid? [True, True] Translation: X:209.69, Y:-7.82, Z:-4.58 [[ 9.99502495e-01 2.54121813e-02 1.86811252e-02 2.09689412e+02] [-2.53958425e-02 9.99676856e-01 -1.11136452e-03 -7.81786966e+00] [-1.87033307e-02 6.36388695e-04 9.99824875e-01 -4.58457835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54439141799998 meters 0.025717386029612457 Centerline is valid? [True, True] Translation: X:209.75, Y:-7.82, Z:-4.59 [[ 9.99576106e-01 2.26490507e-02 1.82928437e-02 2.09751539e+02] [-2.26328283e-02 9.99743247e-01 -1.09337989e-03 -7.81678238e+00] [-1.83129110e-02 6.78897626e-04 9.99832074e-01 -4.58553713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60439141799998 meters 0.027323252665880312 Centerline is valid? [True, True] Translation: X:209.81, Y:-7.82, Z:-4.59 [[ 9.99598588e-01 2.19196981e-02 1.79496590e-02 2.09813993e+02] [-2.19039503e-02 9.99759503e-01 -1.07348404e-03 -7.81947511e+00] [-1.79688726e-02 6.79884689e-04 9.99838316e-01 -4.58680721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66439141799998 meters 0.027906261484029582 Centerline is valid? [True, True] Translation: X:209.88, Y:-7.82, Z:-4.59 [[ 9.99596347e-01 2.21737073e-02 1.77614738e-02 2.09876266e+02] [-2.21582411e-02 9.99753907e-01 -1.06711768e-03 -7.82244308e+00] [-1.77807648e-02 6.73123911e-04 9.99841683e-01 -4.58832825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72439141799998 meters 0.02615230074370878 Centerline is valid? [True, True] Translation: X:209.94, Y:-7.82, Z:-4.59 [[ 9.99535292e-01 2.48274579e-02 1.76861020e-02 2.09939139e+02] [-2.48124430e-02 9.99691554e-01 -1.06792955e-03 -7.81845410e+00] [-1.77071608e-02 6.28597881e-04 9.99843018e-01 -4.58965087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78439141799998 meters 0.027226158069065705 Centerline is valid? [True, True] Translation: X:210.00, Y:-7.82, Z:-4.59 [[ 9.99483579e-01 2.64896425e-02 1.81899280e-02 2.10000389e+02] [-2.64739352e-02 9.99648895e-01 -1.10382003e-03 -7.82239282e+00] [-1.82127812e-02 6.21691018e-04 9.99833940e-01 -4.59126693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844391418 meters 0.022336200748601036 Centerline is valid? [True, True] Translation: X:210.06, Y:-7.81, Z:-4.59 [[ 9.99234297e-01 3.39664594e-02 1.94190621e-02 2.10061568e+02] [-3.39498480e-02 9.99422836e-01 -1.18454134e-03 -7.81271260e+00] [-1.94480888e-02 5.24360131e-04 9.99810731e-01 -4.59248787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904391418 meters 0.020104469105792454 Centerline is valid? [True, True] Translation: X:210.12, Y:-7.81, Z:-4.59 [[ 9.98970893e-01 4.07791139e-02 1.98549362e-02 2.10122015e+02] [-4.07630935e-02 9.99168106e-01 -1.21108550e-03 -7.80871312e+00] [-1.98878060e-02 4.00490545e-04 9.99802138e-01 -4.59407842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964391418 meters 0.01746091895005793 Centerline is valid? [True, True] Translation: X:210.18, Y:-7.80, Z:-4.60 [[ 9.98496134e-01 5.04158942e-02 2.15338861e-02 2.10182428e+02] [-5.03992780e-02 9.98728284e-01 -1.31398929e-03 -7.80135138e+00] [-2.15727471e-02 2.26720911e-04 9.99767256e-01 -4.59564086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024391418 meters 0.01697927055990012 Centerline is valid? [True, True] Translation: X:210.24, Y:-7.80, Z:-4.60 [[ 9.98169696e-01 5.58845924e-02 2.31121180e-02 2.10241919e+02] [-5.58669284e-02 9.98437228e-01 -1.40976268e-03 -7.79886336e+00] [-2.31547830e-02 1.15979349e-04 9.99731885e-01 -4.59693336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08439141799997 meters 0.017135055085358168 Centerline is valid? [True, True] Translation: X:210.30, Y:-7.80, Z:-4.60 [[ 9.98128976e-01 5.63256502e-02 2.37900720e-02 2.10300686e+02] [-5.63070952e-02 9.98412445e-01 -1.44962976e-03 -7.80154277e+00] [-2.38339553e-02 1.07367616e-04 9.99715925e-01 -4.59877022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14439141799997 meters 0.017141697898253348 Centerline is valid? [True, True] Translation: X:210.36, Y:-7.81, Z:-4.60 [[ 9.98277244e-01 5.36146133e-02 2.38331185e-02 2.10359217e+02] [-5.35952642e-02 9.98561688e-01 -1.45033741e-03 -7.80766300e+00] [-2.38765983e-02 1.70496547e-04 9.99714899e-01 -4.60168552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20439141799997 meters 0.017746251782161382 Centerline is valid? [True, True] Translation: X:210.42, Y:-7.82, Z:-4.60 [[ 9.98455042e-01 5.00385659e-02 2.41592772e-02 2.10417490e+02] [-5.00176837e-02 9.98747253e-01 -1.46824312e-03 -7.81589081e+00] [-2.42024806e-02 2.57583654e-04 9.99707044e-01 -4.60372317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26439141799997 meters 0.01844068084938682 Centerline is valid? [True, True] Translation: X:210.48, Y:-7.83, Z:-4.61 [[ 9.98708560e-01 4.50924331e-02 2.34069334e-02 2.10476303e+02] [-4.50714976e-02 9.98982752e-01 -1.42147722e-03 -7.82535000e+00] [-2.34472206e-02 3.64655928e-04 9.99725010e-01 -4.60627293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32439141799998 meters 0.018759403365677163 Centerline is valid? [True, True] Translation: X:210.54, Y:-7.83, Z:-4.61 [[ 9.98755587e-01 4.37365662e-02 2.39664375e-02 2.10536385e+02] [-4.37142493e-02 9.99043016e-01 -1.45454608e-03 -7.83256921e+00] [-2.40071189e-02 4.05061202e-04 9.99711706e-01 -4.60809697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38439141799998 meters 0.018426072747384566 Centerline is valid? [True, True] Translation: X:210.60, Y:-7.84, Z:-4.61 [[ 9.98697495e-01 4.47546633e-02 2.45017229e-02 2.10596288e+02] [-4.47316444e-02 9.98997932e-01 -1.48703307e-03 -7.83720191e+00] [-2.45437222e-02 3.89093841e-04 9.99698682e-01 -4.61004309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44439141799998 meters 0.017759590018120906 Centerline is valid? [True, True] Translation: X:210.66, Y:-7.84, Z:-4.61 [[ 9.98555255e-01 4.79069082e-02 2.43378523e-02 2.10656572e+02] [-4.78851310e-02 9.98851757e-01 -1.47713400e-03 -7.84241531e+00] [-2.43806715e-02 3.09578669e-04 9.99702699e-01 -4.61216346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50439141799998 meters 0.017261836314699606 Centerline is valid? [True, True] Translation: X:210.72, Y:-7.85, Z:-4.61 [[ 9.98443464e-01 5.01410002e-02 2.44239501e-02 2.10716539e+02] [-5.01197259e-02 9.98742116e-01 -1.48279958e-03 -7.84582254e+00] [-2.44675767e-02 2.56369864e-04 9.99700591e-01 -4.61409759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56439141799999 meters 0.01675346816461386 Centerline is valid? [True, True] Translation: X:210.78, Y:-7.85, Z:-4.62 [[ 9.98303570e-01 5.29838029e-02 2.41391679e-02 2.10776297e+02] [-5.29638548e-02 9.98595355e-01 -1.46542754e-03 -7.84890582e+00] [-2.41829049e-02 1.84438164e-04 9.99707534e-01 -4.61571634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624391418 meters 0.016075470048038044 Centerline is valid? [True, True] Translation: X:210.84, Y:-7.85, Z:-4.62 [[ 9.98155769e-01 5.59013509e-02 2.36664267e-02 2.10835654e+02] [-5.58830177e-02 9.98436291e-01 -1.43582499e-03 -7.85204871e+00] [-2.37096838e-02 1.10625658e-04 9.99718880e-01 -4.61848934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684391418 meters 0.015781454852678872 Centerline is valid? [True, True] Translation: X:210.90, Y:-7.86, Z:-4.62 [[ 9.98030745e-01 5.81830822e-02 2.34384342e-02 2.10895196e+02] [-5.81657516e-02 9.98305928e-01 -1.42106447e-03 -7.85566678e+00] [-2.34814097e-02 5.49518905e-05 9.99724272e-01 -4.62032755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744391418 meters 0.015512453896167532 Centerline is valid? [True, True] Translation: X:210.95, Y:-7.86, Z:-4.62 [[ 9.97932973e-01 5.98020567e-02 2.35264854e-02 2.10953388e+02] [-5.97850686e-02 9.98210255e-01 -1.42541558e-03 -7.86032340e+00] [-2.35696218e-02 1.59366631e-05 9.99722198e-01 -4.62180721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80439141799997 meters 0.015408782873159978 Centerline is valid? [True, True] Translation: X:211.01, Y:-7.87, Z:-4.62 [[ 9.97929560e-01 6.02412707e-02 2.25296143e-02 2.11011657e+02] [-6.02258332e-02 9.98183845e-01 -1.36371581e-03 -7.86545536e+00] [-2.25708490e-02 4.02752824e-06 9.99745246e-01 -4.62438566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86439141799997 meters 0.015329655448204848 Centerline is valid? [True, True] Translation: X:211.07, Y:-7.87, Z:-4.63 [[ 9.97961973e-01 6.01598307e-02 2.12766315e-02 2.11069714e+02] [-6.01460785e-02 9.98188757e-01 -1.28626712e-03 -7.87270976e+00] [-2.13154760e-02 3.93972494e-06 9.99772799e-01 -4.62672112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92439141799997 meters 0.015302426198107314 Centerline is valid? [True, True] Translation: X:211.13, Y:-7.88, Z:-4.63 [[ 9.97958683e-01 6.00477023e-02 2.17425912e-02 2.11128063e+02] [-6.00333526e-02 9.98195509e-01 -1.31268568e-03 -7.87949143e+00] [-2.17821806e-02 4.72543270e-06 9.99762740e-01 -4.62656774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98439141799997 meters 0.015208072819914615 Centerline is valid? [True, True] Translation: X:211.19, Y:-7.89, Z:-4.63 [[ 9.97952015e-01 6.01351369e-02 2.18068815e-02 2.11185674e+02] [-6.01207614e-02 9.98190245e-01 -1.31481716e-03 -7.88503714e+00] [-2.18464831e-02 1.07811696e-06 9.99761337e-01 -4.62727762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04439141799998 meters 0.015116043924174207 Centerline is valid? [True, True] Translation: X:211.24, Y:-7.89, Z:-4.63 [[ 9.98046432e-01 5.86901524e-02 2.14192917e-02 2.11243829e+02] [-5.86759981e-02 9.98276247e-01 -1.28923660e-03 -7.89410648e+00] [-2.14580356e-02 2.99196676e-05 9.99769749e-01 -4.62841277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10439141799998 meters 0.015537265924228572 Centerline is valid? [True, True] Translation: X:211.30, Y:-7.91, Z:-4.63 [[ 9.98286907e-01 5.42293035e-02 2.19643732e-02 2.11301736e+02] [-5.42133817e-02 9.98528501e-01 -1.32013693e-03 -7.90626765e+00] [-2.20036428e-02 1.27112467e-04 9.99757882e-01 -4.62903489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16439141799998 meters 0.016554489776490253 Centerline is valid? [True, True] Translation: X:211.36, Y:-7.92, Z:-4.63 [[ 9.98502124e-01 4.99171603e-02 2.24005798e-02 2.11360874e+02] [-4.98995570e-02 9.98753336e-01 -1.34446389e-03 -7.91747329e+00] [-2.24397656e-02 2.24671039e-04 9.99748172e-01 -4.63011789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22439141799998 meters 0.018740857879477955 Centerline is valid? [True, True] Translation: X:211.42, Y:-7.93, Z:-4.63 [[ 9.98823825e-01 4.32103505e-02 2.19962078e-02 2.11420993e+02] [-4.31917703e-02 9.99065929e-01 -1.31930482e-03 -7.93166672e+00] [-2.20326694e-02 3.67697925e-04 9.99757184e-01 -4.63159536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28439141799998 meters 0.019809287766394526 Centerline is valid? [True, True] Translation: X:211.48, Y:-7.94, Z:-4.63 [[ 9.98977373e-01 3.99720377e-02 2.11292271e-02 2.11482848e+02] [-3.99541656e-02 9.99200710e-01 -1.26748663e-03 -7.94118866e+00] [-2.11630027e-02 4.21989826e-04 9.99775950e-01 -4.63382787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344391418 meters 0.021449339697459092 Centerline is valid? [True, True] Translation: X:211.54, Y:-7.95, Z:-4.64 [[ 9.99101613e-01 3.72716214e-02 2.01691127e-02 2.11544457e+02] [-3.72546722e-02 9.99305064e-01 -1.21557053e-03 -7.95066877e+00] [-2.02004028e-02 4.63084800e-04 9.99795844e-01 -4.63596015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404391418 meters 0.01983690527586408 Centerline is valid? [True, True] Translation: X:211.61, Y:-7.96, Z:-4.64 [[ 9.99105347e-01 3.72284291e-02 2.00636534e-02 2.11605980e+02] [-3.72115266e-02 9.99306672e-01 -1.21525401e-03 -7.95506584e+00] [-2.00949847e-02 4.67567602e-04 9.99797966e-01 -4.63678599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464391418 meters 0.021588423387425535 Centerline is valid? [True, True] Translation: X:211.67, Y:-7.96, Z:-4.64 [[ 9.99076237e-01 3.80142717e-02 2.00396563e-02 2.11666936e+02] [-3.79974353e-02 9.99277091e-01 -1.22038947e-03 -7.96370062e+00] [-2.00715617e-02 4.57806573e-04 9.99798441e-01 -4.63791434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52439141799996 meters 0.020598257265027377 Centerline is valid? [True, True] Translation: X:211.73, Y:-7.97, Z:-4.64 [[ 9.99048369e-01 3.88667890e-02 1.97921520e-02 2.11728571e+02] [-3.88504312e-02 9.99244304e-01 -1.21046115e-03 -7.96723592e+00] [-1.98242419e-02 4.40375601e-04 9.99803383e-01 -4.63926898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58439141799997 meters 0.020919505659961493 Centerline is valid? [True, True] Translation: X:211.79, Y:-7.97, Z:-4.64 [[ 9.99066179e-01 3.83312142e-02 1.99370929e-02 2.11790863e+02] [-3.83143889e-02 9.99264983e-01 -1.22535477e-03 -7.97237356e+00] [-1.99694082e-02 4.60332974e-04 9.99800486e-01 -4.64091349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64439141799997 meters 0.0212178511064592 Centerline is valid? [True, True] Translation: X:211.85, Y:-7.98, Z:-4.64 [[ 9.99085881e-01 3.80183105e-02 1.95450972e-02 2.11852415e+02] [-3.80019675e-02 9.99276935e-01 -1.20703340e-03 -7.97699543e+00] [-1.95768542e-02 4.63177881e-04 9.99808248e-01 -4.64268673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70439141799997 meters 0.02454148721306022 Centerline is valid? [True, True] Translation: X:211.91, Y:-7.99, Z:-4.64 [[ 9.99246550e-01 3.37554738e-02 1.91546174e-02 2.11912689e+02] [-3.37388875e-02 9.99429975e-01 -1.18850694e-03 -7.98590109e+00] [-1.91838174e-02 5.41355978e-04 9.99815827e-01 -4.64476489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76439141799997 meters 0.026501808105082632 Centerline is valid? [True, True] Translation: X:211.97, Y:-7.99, Z:-4.65 [[ 9.99400982e-01 2.84198600e-02 1.97481197e-02 2.11973399e+02] [-2.84011240e-02 9.99595852e-01 -1.22861977e-03 -7.99214951e+00] [-1.97750557e-02 6.67015006e-04 9.99804232e-01 -4.64533270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82439141799998 meters 0.02774396057535609 Centerline is valid? [True, True] Translation: X:212.04, Y:-8.00, Z:-4.65 [[ 9.99453376e-01 2.68756085e-02 1.92522744e-02 2.12035773e+02] [-2.68575225e-02 9.99638555e-01 -1.19741164e-03 -7.99763467e+00] [-1.92774969e-02 6.79688716e-04 9.99813941e-01 -4.64756519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88439141799998 meters 0.026135046093185958 Centerline is valid? [True, True] Translation: X:212.10, Y:-8.00, Z:-4.65 [[ 9.99433850e-01 2.77797562e-02 1.89806595e-02 2.12096872e+02] [-2.77622273e-02 9.99613851e-01 -1.18643531e-03 -7.99643502e+00] [-1.90062891e-02 6.58818228e-04 9.99819147e-01 -4.64933969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94439141799998 meters 0.023733950839722427 Centerline is valid? [True, True] Translation: X:212.16, Y:-7.99, Z:-4.65 [[ 9.99290074e-01 3.25329882e-02 1.89987596e-02 2.12158692e+02] [-3.25162161e-02 9.99470498e-01 -1.19112877e-03 -7.99228428e+00] [-1.90274507e-02 5.72515382e-04 9.99818798e-01 -4.65033398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00439141799998 meters 0.02306661375689913 Centerline is valid? [True, True] Translation: X:212.22, Y:-7.99, Z:-4.65 [[ 9.99128722e-01 3.70842606e-02 1.91455962e-02 2.12220758e+02] [-3.70680507e-02 9.99312022e-01 -1.20097340e-03 -7.99206807e+00] [-1.91769616e-02 4.90237091e-04 9.99815985e-01 -4.65142540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06439141799999 meters 0.01764298896716113 Centerline is valid? [True, True] Translation: X:212.28, Y:-7.98, Z:-4.65 [[ 9.98821711e-01 4.44473015e-02 1.94840301e-02 2.12282662e+02] [-4.44318787e-02 9.99011667e-01 -1.22395481e-03 -7.98191656e+00] [-1.95191749e-02 3.56800570e-04 9.99809419e-01 -4.65238083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124391418 meters 0.015799400678350378 Centerline is valid? [True, True] Translation: X:212.34, Y:-7.98, Z:-4.65 [[ 9.98472896e-01 5.21153214e-02 1.83267555e-02 2.12343167e+02] [-5.21029578e-02 9.98641054e-01 -1.15177666e-03 -7.97536196e+00] [-1.83618757e-02 1.95139611e-04 9.99831388e-01 -4.65497046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184391418 meters 0.014962010045249307 Centerline is valid? [True, True] Translation: X:212.40, Y:-7.97, Z:-4.66 [[ 9.98220100e-01 5.69198816e-02 1.77977191e-02 2.12402184e+02] [-5.69089881e-02 9.98378744e-01 -1.11834852e-03 -7.97247998e+00] [-1.78325207e-02 1.03507785e-04 9.99840983e-01 -4.65640078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244391418 meters 0.014693029967981905 Centerline is valid? [True, True] Translation: X:212.46, Y:-7.97, Z:-4.66 [[ 9.98028007e-01 6.01852484e-02 1.78278819e-02 2.12461530e+02] [-6.01748562e-02 9.98187224e-01 -1.11927109e-03 -7.97097090e+00] [-1.78629275e-02 4.42736687e-05 9.99840444e-01 -4.65752998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30439141799997 meters 0.014795641285206246 Centerline is valid? [True, True] Translation: X:212.52, Y:-7.97, Z:-4.66 [[ 9.97999721e-01 6.08629174e-02 1.70956767e-02 2.12520115e+02] [-6.08534821e-02 9.98146134e-01 -1.07205558e-03 -7.97158472e+00] [-1.71292320e-02 2.95797151e-05 9.99853284e-01 -4.65955987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36439141799997 meters 0.015160217316805088 Centerline is valid? [True, True] Translation: X:212.58, Y:-7.98, Z:-4.66 [[ 9.98266619e-01 5.63463170e-02 1.69955922e-02 2.12578864e+02] [-5.63363610e-02 9.98411279e-01 -1.06438262e-03 -7.97625527e+00] [-1.70285650e-02 1.05067826e-04 9.99854998e-01 -4.65981542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42439141799997 meters 0.01632118081886278 Centerline is valid? [True, True] Translation: X:212.64, Y:-7.98, Z:-4.66 [[ 9.98550160e-01 5.10024014e-02 1.72143519e-02 2.12636675e+02] [-5.09914178e-02 9.98698511e-01 -1.07665915e-03 -7.98384935e+00] [-1.72468598e-02 1.97313954e-04 9.99851242e-01 -4.66057967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48439141799997 meters 0.020366998576762173 Centerline is valid? [True, True] Translation: X:212.70, Y:-8.00, Z:-4.66 [[ 9.98999836e-01 4.10028968e-02 1.78350651e-02 2.12695666e+02] [-4.09895509e-02 9.99158955e-01 -1.11336275e-03 -7.99651254e+00] [-1.78657161e-02 3.81197893e-04 9.99840323e-01 -4.66108419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54439141799998 meters 0.02380790167553602 Centerline is valid? [True, True] Translation: X:212.76, Y:-8.01, Z:-4.66 [[ 9.99275550e-01 3.37437117e-02 1.75993347e-02 2.12756178e+02] [-3.37295997e-02 9.99430392e-01 -1.09814980e-03 -8.00648983e+00] [-1.76263656e-02 5.03735732e-04 9.99844517e-01 -4.66214017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60439141799998 meters 0.030537440605362325 Centerline is valid? [True, True] Translation: X:212.82, Y:-8.02, Z:-4.66 [[ 9.99569994e-01 2.37016937e-02 1.72643173e-02 2.12815058e+02] [-2.36866092e-02 9.99718852e-01 -1.07772874e-03 -8.02073193e+00] [-1.72850075e-02 6.68332177e-04 9.99850380e-01 -4.66382149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66439141799998 meters 0.03653835609307921 Centerline is valid? [True, True] Translation: X:212.87, Y:-8.03, Z:-4.66 [[ 9.99727896e-01 1.55381218e-02 1.73982823e-02 2.12874893e+02] [-1.55215741e-02 9.99878944e-01 -1.08574645e-03 -8.03324302e+00] [-1.74130466e-02 8.15402281e-04 9.99848049e-01 -4.66486278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72439141799998 meters 0.040041324184496185 Centerline is valid? [True, True] Translation: X:212.94, Y:-8.04, Z:-4.67 [[ 9.99767591e-01 1.20488605e-02 1.78770786e-02 2.12935612e+02] [-1.20308347e-02 9.99927005e-01 -1.11552502e-03 -8.04176842e+00] [-1.78892145e-02 9.00189581e-04 9.99839570e-01 -4.66620675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78439141799998 meters 0.042284381097663616 Centerline is valid? [True, True] Translation: X:213.00, Y:-8.05, Z:-4.67 [[ 9.99800717e-01 1.01160654e-02 1.72102399e-02 2.12997059e+02] [-1.00990866e-02 9.99948427e-01 -1.07317830e-03 -8.04682079e+00] [-1.72202087e-02 8.99156727e-04 9.99851317e-01 -4.66781104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844391418 meters 0.043565921862496255 Centerline is valid? [True, True] Translation: X:213.06, Y:-8.05, Z:-4.67 [[ 9.99812507e-01 1.12392902e-02 1.57679502e-02 2.13057765e+02] [-1.12251259e-02 9.99936510e-01 -9.86512433e-04 -8.04940688e+00] [-1.57780368e-02 8.09330242e-04 9.99875191e-01 -4.67083829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904391418 meters 0.04305723516366694 Centerline is valid? [True, True] Translation: X:213.12, Y:-8.05, Z:-4.67 [[ 9.99799318e-01 1.25544963e-02 1.56111377e-02 2.13120452e+02] [-1.25407028e-02 9.99920881e-01 -9.81152460e-04 -8.04963275e+00] [-1.56222204e-02 7.85180923e-04 9.99877657e-01 -4.67234997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964391418 meters 0.04246001259777622 Centerline is valid? [True, True] Translation: X:213.18, Y:-8.05, Z:-4.67 [[ 9.99758130e-01 1.52228732e-02 1.58727836e-02 2.13180884e+02] [-1.52089195e-02 9.99883838e-01 -9.99439158e-04 -8.04685442e+00] [-1.58861541e-02 7.57789535e-04 9.99873520e-01 -4.67274433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02439141799996 meters 0.040550602527758065 Centerline is valid? [True, True] Translation: X:213.24, Y:-8.04, Z:-4.67 [[ 9.99706379e-01 1.87851277e-02 1.53060457e-02 2.13241542e+02] [-1.87725637e-02 9.99823315e-01 -9.64121998e-04 -8.04174573e+00] [-1.53214525e-02 6.76505193e-04 9.99882391e-01 -4.67465362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08439141799997 meters 0.038997166324584616 Centerline is valid? [True, True] Translation: X:213.30, Y:-8.04, Z:-4.68 [[ 9.99656938e-01 2.10211384e-02 1.56242530e-02 2.13303548e+02] [-2.10083242e-02 9.99778817e-01 -9.83845510e-04 -8.03973313e+00] [-1.56414787e-02 6.55268619e-04 9.99877450e-01 -4.67510844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14439141799997 meters 0.0380225929726718 Centerline is valid? [True, True] Translation: X:213.36, Y:-8.04, Z:-4.67 [[ 9.99584692e-01 2.35743224e-02 1.65738978e-02 2.13364026e+02] [-2.35602428e-02 9.99721874e-01 -1.04427899e-03 -8.03681372e+00] [-1.65939063e-02 6.53360233e-04 9.99862098e-01 -4.67481906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20439141799997 meters 0.03825174482425074 Centerline is valid? [True, True] Translation: X:213.43, Y:-8.04, Z:-4.68 [[ 9.99562422e-01 2.45770856e-02 1.64600009e-02 2.13426670e+02] [-2.45633196e-02 9.99697737e-01 -1.03800707e-03 -8.03753661e+00] [-1.64805368e-02 6.33240598e-04 9.99863986e-01 -4.67654611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26439141799997 meters 0.03935979960425581 Centerline is valid? [True, True] Translation: X:213.49, Y:-8.04, Z:-4.68 [[ 9.99557784e-01 2.48017418e-02 1.64045680e-02 2.13488765e+02] [-2.47880392e-02 9.99692190e-01 -1.03812875e-03 -8.03918672e+00] [-1.64252659e-02 6.31032602e-04 9.99864897e-01 -4.67866161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32439141799998 meters 0.04141216393608104 Centerline is valid? [True, True] Translation: X:213.55, Y:-8.04, Z:-4.68 [[ 9.99592335e-01 2.37379642e-02 1.58642190e-02 2.13549615e+02] [-2.37249549e-02 9.99718016e-01 -1.00776901e-03 -8.04206111e+00] [-1.58836679e-02 6.30980296e-04 9.99873647e-01 -4.68085013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38439141799998 meters 0.04204002763927818 Centerline is valid? [True, True] Translation: X:213.61, Y:-8.04, Z:-4.68 [[ 9.99599778e-01 2.36092768e-02 1.55848265e-02 2.13612176e+02] [-2.35966591e-02 9.99721067e-01 -9.93027184e-04 -8.04408399e+00] [-1.56039240e-02 6.24879915e-04 9.99878056e-01 -4.68266979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44439141799998 meters 0.02556313759653713 Centerline is valid? [True, True] Translation: X:213.68, Y:-8.02, Z:-4.68 [[ 9.99555046e-01 2.57511302e-02 1.50528585e-02 2.13675400e+02] [-2.57395368e-02 9.99668219e-01 -9.63446687e-04 -8.02002505e+00] [-1.50726741e-02 5.75564393e-04 9.99886235e-01 -4.68057330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50439141799998 meters 0.026303889744523468 Centerline is valid? [True, True] Translation: X:213.74, Y:-8.02, Z:-4.68 [[ 9.99426790e-01 2.99502962e-02 1.57819778e-02 2.13735714e+02] [-2.99380620e-02 9.99551245e-01 -1.01093753e-03 -8.02119285e+00] [-1.58051734e-02 5.37876225e-04 9.99874946e-01 -4.68163585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56439141799999 meters 0.024102711741318138 Centerline is valid? [True, True] Translation: X:213.80, Y:-8.02, Z:-4.68 [[ 9.99252983e-01 3.50561568e-02 1.62647497e-02 2.13796147e+02] [-3.50438287e-02 9.99385233e-01 -1.04243694e-03 -8.01778267e+00] [-1.62912945e-02 4.71679123e-04 9.99867177e-01 -4.68180301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624391418 meters 0.021627377919391344 Centerline is valid? [True, True] Translation: X:213.86, Y:-8.01, Z:-4.68 [[ 9.99070868e-01 3.95760573e-02 1.70627337e-02 2.13856728e+02] [-3.95631542e-02 9.99216474e-01 -1.09323933e-03 -8.01475132e+00] [-1.70926308e-02 4.17167997e-04 9.99853823e-01 -4.68186798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684391418 meters 0.019733914568982172 Centerline is valid? [True, True] Translation: X:213.92, Y:-8.01, Z:-4.68 [[ 9.98948019e-01 4.25415826e-02 1.71192894e-02 2.13916513e+02] [-4.25290328e-02 9.99094630e-01 -1.09663605e-03 -8.01288461e+00] [-1.71504428e-02 3.67415590e-04 9.99852853e-01 -4.68401963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744391418 meters 0.01981042109553552 Centerline is valid? [True, True] Translation: X:213.98, Y:-8.02, Z:-4.69 [[ 9.99050714e-01 4.10807867e-02 1.44927449e-02 2.13975243e+02] [-4.10716410e-02 9.99155773e-01 -9.28255761e-04 -8.01523256e+00] [-1.45186433e-02 3.32133764e-04 9.99894544e-01 -4.68782733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80439141799997 meters 0.0212060713842386 Centerline is valid? [True, True] Translation: X:214.03, Y:-8.02, Z:-4.69 [[ 9.99187478e-01 3.81878804e-02 1.28867991e-02 2.14033907e+02] [-3.81804196e-02 9.99270522e-01 -8.24563854e-04 -8.02057182e+00] [-1.29088868e-02 3.31870481e-04 9.99916622e-01 -4.69077676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86439141799997 meters 0.02324289536487453 Centerline is valid? [True, True] Translation: X:214.09, Y:-8.03, Z:-4.69 [[ 9.99352435e-01 3.38744576e-02 1.21339114e-02 2.14093047e+02] [-3.38675405e-02 9.99426030e-01 -7.75148186e-04 -8.02731189e+00] [-1.21532047e-02 3.63700490e-04 9.99926081e-01 -4.69290730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92439141799997 meters 0.02329720810152199 Centerline is valid? [True, True] Translation: X:214.15, Y:-8.03, Z:-4.69 [[ 9.99402782e-01 3.22061129e-02 1.25238304e-02 2.14151664e+02] [-3.21986148e-02 9.99481170e-01 -7.99925740e-04 -8.03023778e+00] [-1.25430951e-02 3.96198020e-04 9.99921254e-01 -4.69324392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98439141799997 meters 0.02383906598620791 Centerline is valid? [True, True] Translation: X:214.21, Y:-8.03, Z:-4.69 [[ 9.99380396e-01 3.26155316e-02 1.32306700e-02 2.14209238e+02] [-3.26072122e-02 9.99467887e-01 -8.44078825e-04 -8.03243910e+00] [-1.32511599e-02 4.12140565e-04 9.99912115e-01 -4.69375026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04439141799998 meters 0.022398114495921828 Centerline is valid? [True, True] Translation: X:214.27, Y:-8.03, Z:-4.69 [[ 9.99224027e-01 3.69062737e-02 1.37575723e-02 2.14268055e+02] [-3.68977142e-02 9.99318664e-01 -8.75561429e-04 -8.03121055e+00] [-1.37805125e-02 3.67259046e-04 9.99904977e-01 -4.69458122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10439141799998 meters 0.0203665490673827 Centerline is valid? [True, True] Translation: X:214.33, Y:-8.03, Z:-4.69 [[ 9.99018728e-01 4.17922486e-02 1.46624750e-02 2.14328320e+02] [-4.17830540e-02 9.99126271e-01 -9.32995622e-04 -8.03014450e+00] [-1.46886560e-02 3.19437113e-04 9.99892065e-01 -4.69487182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16439141799998 meters 0.01695649608763874 Centerline is valid? [True, True] Translation: X:214.39, Y:-8.02, Z:-4.69 [[ 9.98593897e-01 5.05897021e-02 1.58401871e-02 2.14387653e+02] [-5.05800804e-02 9.98719500e-01 -1.00771594e-03 -8.02474141e+00] [-1.58708838e-02 2.05101055e-04 9.99874029e-01 -4.69481337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22439141799998 meters 0.015869037700575517 Centerline is valid? [True, True] Translation: X:214.45, Y:-8.02, Z:-4.70 [[ 9.98268198e-01 5.68691222e-02 1.50501596e-02 2.14447100e+02] [-5.68611530e-02 9.98381637e-01 -9.57238021e-04 -8.02143904e+00] [-1.50802403e-02 9.98108464e-05 9.99886282e-01 -4.69685911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28439141799998 meters 0.014841527663028733 Centerline is valid? [True, True] Translation: X:214.51, Y:-8.02, Z:-4.70 [[ 9.97771210e-01 6.49650518e-02 1.52366068e-02 2.14505232e+02] [-6.49578404e-02 9.97887540e-01 -9.68239526e-04 -8.01806321e+00] [-1.52673218e-02 -2.36555465e-05 9.99883447e-01 -4.69810962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344391418 meters 0.01516524939172185 Centerline is valid? [True, True] Translation: X:214.56, Y:-8.02, Z:-4.70 [[ 9.97433089e-01 6.99197735e-02 1.54421223e-02 2.14564092e+02] [-6.99129985e-02 9.97552612e-01 -9.78796293e-04 -8.01805899e+00] [-1.54727666e-02 -1.03321263e-04 9.99880284e-01 -4.69946379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404391418 meters 0.015358272608401563 Centerline is valid? [True, True] Translation: X:214.62, Y:-8.02, Z:-4.70 [[ 9.97393178e-01 7.04904016e-02 1.54257078e-02 2.14621456e+02] [-7.04837266e-02 9.97512451e-01 -9.76629362e-04 -8.02119650e+00] [-1.54561786e-02 -1.13177906e-04 9.99880540e-01 -4.70156386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464391418 meters 0.014650243048534722 Centerline is valid? [True, True] Translation: X:214.68, Y:-8.03, Z:-4.70 [[ 9.97665878e-01 6.66163899e-02 1.50017317e-02 2.14679967e+02] [-6.66096622e-02 9.97778660e-01 -9.48230238e-04 -8.02985920e+00] [-1.50315755e-02 -5.32433294e-05 9.99887018e-01 -4.70288865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52439141799996 meters 0.014894572393797616 Centerline is valid? [True, True] Translation: X:214.74, Y:-8.04, Z:-4.70 [[ 9.98295432e-01 5.62210071e-02 1.56661567e-02 2.14737997e+02] [-5.62124108e-02 9.98418343e-01 -9.88867495e-04 -8.04444247e+00] [-1.56969733e-02 1.06549469e-04 9.99876789e-01 -4.70414482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58439141799997 meters 0.017190354543076897 Centerline is valid? [True, True] Translation: X:214.80, Y:-8.06, Z:-4.71 [[ 9.98775671e-01 4.65576667e-02 1.67195165e-02 2.14795946e+02] [-4.65465478e-02 9.98915566e-01 -1.05376584e-03 -8.05853565e+00] [-1.67504462e-02 2.74239914e-04 9.99859664e-01 -4.70534363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64439141799997 meters 0.022896426043960753 Centerline is valid? [True, True] Translation: X:214.85, Y:-8.08, Z:-4.71 [[ 9.99311061e-01 3.17153417e-02 1.92753689e-02 2.14854883e+02] [-3.16978318e-02 9.99496761e-01 -1.21333091e-03 -8.07870829e+00] [-1.93041500e-02 6.01507598e-04 9.99813477e-01 -4.70533268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70439141799997 meters 0.030468055323957802 Centerline is valid? [True, True] Translation: X:214.91, Y:-8.10, Z:-4.71 [[ 9.99613718e-01 1.93199694e-02 1.99788149e-02 2.14913682e+02] [-1.92986889e-02 9.99812972e-01 -1.25742546e-03 -8.09917542e+00] [-1.99993717e-02 8.71374813e-04 9.99799613e-01 -4.70667886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76439141799997 meters 0.033137585598244416 Centerline is valid? [True, True] Translation: X:214.97, Y:-8.11, Z:-4.71 [[ 9.99719993e-01 1.31039507e-02 1.97033659e-02 2.14973780e+02] [-1.30820135e-02 9.99913656e-01 -1.24185949e-03 -8.10898793e+00] [-1.97179379e-02 9.83752062e-04 9.99805099e-01 -4.70818440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82439141799998 meters 0.03947454194773632 Centerline is valid? [True, True] Translation: X:215.03, Y:-8.12, Z:-4.71 [[ 9.99770494e-01 8.14620694e-03 1.98141021e-02 2.15032824e+02] [-8.12305123e-03 9.99966228e-01 -1.24885192e-03 -8.12329787e+00] [-1.98236064e-02 1.08761434e-03 9.99802901e-01 -4.70990713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88439141799998 meters 0.03349731915007583 Centerline is valid? [True, True] Translation: X:215.10, Y:-8.12, Z:-4.71 [[ 9.99741453e-01 9.42268556e-03 2.06939771e-02 2.15095151e+02] [-9.39769040e-03 9.99954989e-01 -1.30476542e-03 -8.12085400e+00] [-2.07053401e-02 1.10995249e-03 9.99785005e-01 -4.71049924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94439141799998 meters 0.033223347510013546 Centerline is valid? [True, True] Translation: X:215.16, Y:-8.12, Z:-4.71 [[ 9.99709793e-01 1.21605318e-02 2.07954657e-02 2.15156455e+02] [-1.21357497e-02 9.99925491e-01 -1.31749401e-03 -8.12366998e+00] [-2.08099376e-02 1.06474310e-03 9.99782883e-01 -4.71220885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00439141799998 meters 0.030826738066697976 Centerline is valid? [True, True] Translation: X:215.22, Y:-8.12, Z:-4.71 [[ 9.99633284e-01 1.89876630e-02 1.93071733e-02 2.15216153e+02] [-1.89675549e-02 9.99819350e-01 -1.22408789e-03 -8.12207558e+00] [-1.93269281e-02 8.57429125e-04 9.99812850e-01 -4.71461821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06439141799999 meters 0.027783607859320995 Centerline is valid? [True, True] Translation: X:215.28, Y:-8.12, Z:-4.72 [[ 9.99539720e-01 2.40018419e-02 1.85542278e-02 2.15277406e+02] [-2.39841425e-02 9.99711648e-01 -1.17589471e-03 -8.12033175e+00] [-1.85771013e-02 7.30346222e-04 9.99827164e-01 -4.71626949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124391418 meters 0.02399803372792431 Centerline is valid? [True, True] Translation: X:215.34, Y:-8.12, Z:-4.72 [[ 9.99296241e-01 3.24094936e-02 1.88851143e-02 2.15338574e+02] [-3.23926481e-02 9.99474503e-01 -1.19729678e-03 -8.11618743e+00] [-1.89139941e-02 5.84715311e-04 9.99820943e-01 -4.71673306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184391418 meters 0.020097800608944276 Centerline is valid? [True, True] Translation: X:215.40, Y:-8.11, Z:-4.72 [[ 9.98975156e-01 4.07790329e-02 1.96394504e-02 2.15399927e+02] [-4.07624294e-02 9.99168091e-01 -1.24515674e-03 -8.11119918e+00] [-1.96738885e-02 4.43328934e-04 9.99806352e-01 -4.71721519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244391418 meters 0.018287198665461385 Centerline is valid? [True, True] Translation: X:215.46, Y:-8.11, Z:-4.72 [[ 9.98749789e-01 4.57309116e-02 2.01876741e-02 2.15459450e+02] [-4.57143686e-02 9.98953731e-01 -1.28042256e-03 -8.11089756e+00] [-2.02251072e-02 3.55954989e-04 9.99795388e-01 -4.71792705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30439141799997 meters 0.015790270668615422 Centerline is valid? [True, True] Translation: X:215.52, Y:-8.11, Z:-4.72 [[ 9.98426275e-01 5.25064247e-02 1.96989366e-02 2.15518254e+02] [-5.24920037e-02 9.98620564e-01 -1.24878341e-03 -8.10877617e+00] [-1.97373324e-02 2.12781515e-04 9.99805177e-01 -4.72043644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36439141799997 meters 0.014805510660872866 Centerline is valid? [True, True] Translation: X:215.58, Y:-8.11, Z:-4.72 [[ 9.98162654e-01 5.77866632e-02 1.82213728e-02 2.15577218e+02] [-5.77752273e-02 9.98328950e-01 -1.15383754e-03 -8.10847446e+00] [-1.82576004e-02 9.89735881e-05 9.99833311e-01 -4.72264858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42439141799997 meters 0.014785191268933304 Centerline is valid? [True, True] Translation: X:215.64, Y:-8.11, Z:-4.72 [[ 9.98041983e-01 5.98437527e-02 1.81913295e-02 2.15635746e+02] [-5.98327219e-02 9.98207755e-01 -1.15052548e-03 -8.11162288e+00] [-1.82275780e-02 5.98359710e-05 9.99833862e-01 -4.72388222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48439141799997 meters 0.014834166769688259 Centerline is valid? [True, True] Translation: X:215.69, Y:-8.12, Z:-4.73 [[ 9.97981217e-01 6.09164711e-02 1.79631422e-02 2.15693478e+02] [-6.09059119e-02 9.98142867e-01 -1.13482670e-03 -8.11654232e+00] [-1.79989119e-02 3.84741775e-05 9.99838006e-01 -4.72507235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54439141799998 meters 0.01447638362502083 Centerline is valid? [True, True] Translation: X:215.75, Y:-8.12, Z:-4.73 [[ 9.97930440e-01 6.15146840e-02 1.87291501e-02 2.15751800e+02] [-6.15033569e-02 9.98106178e-01 -1.18073493e-03 -8.12248394e+00] [-1.87663130e-02 2.63857201e-05 9.99823897e-01 -4.72541907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60439141799998 meters 0.014685557269639668 Centerline is valid? [True, True] Translation: X:215.81, Y:-8.13, Z:-4.73 [[ 9.97953938e-01 6.10069493e-02 1.91334877e-02 2.15808346e+02] [-6.09950616e-02 9.98137341e-01 -1.20481319e-03 -8.13121988e+00] [-1.91713505e-02 3.52998064e-05 9.99816212e-01 -4.72643684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66439141799998 meters 0.014854867553967168 Centerline is valid? [True, True] Translation: X:215.87, Y:-8.14, Z:-4.73 [[ 9.98111368e-01 5.84276871e-02 1.89711184e-02 2.15866235e+02] [-5.84155873e-02 9.98291640e-01 -1.19180576e-03 -8.14333852e+00] [-1.90083433e-02 8.13458530e-05 9.99819322e-01 -4.72836592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72439141799998 meters 0.015160226993939624 Centerline is valid? [True, True] Translation: X:215.92, Y:-8.15, Z:-4.73 [[ 9.98284631e-01 5.55104087e-02 1.86115618e-02 2.15923162e+02] [-5.54982815e-02 9.98458100e-01 -1.16786423e-03 -8.15431199e+00] [-1.86476933e-02 1.32951220e-04 9.99826108e-01 -4.73032978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78439141799998 meters 0.015846115857630558 Centerline is valid? [True, True] Translation: X:215.98, Y:-8.17, Z:-4.73 [[ 9.98485678e-01 5.19844776e-02 1.79990498e-02 2.15981385e+02] [-5.19725938e-02 9.98647875e-01 -1.12770019e-03 -8.16794331e+00] [-1.80333357e-02 1.90535185e-04 9.99837368e-01 -4.73247269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844391418 meters 0.015952874004875467 Centerline is valid? [True, True] Translation: X:216.04, Y:-8.18, Z:-4.73 [[ 9.98578752e-01 5.05937543e-02 1.67555304e-02 2.16039333e+02] [-5.05832792e-02 9.98719296e-01 -1.04865715e-03 -8.17837499e+00] [-1.67871270e-02 1.99617078e-04 9.99859066e-01 -4.73460254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904391418 meters 0.015422528262348535 Centerline is valid? [True, True] Translation: X:216.10, Y:-8.18, Z:-4.74 [[ 9.98547369e-01 5.11007292e-02 1.70840966e-02 2.16097748e+02] [-5.10899362e-02 9.98693486e-01 -1.06788982e-03 -8.18452313e+00] [-1.71163459e-02 1.93513161e-04 9.99853486e-01 -4.73546453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964391418 meters 0.015251547933997987 Centerline is valid? [True, True] Translation: X:216.16, Y:-8.19, Z:-4.74 [[ 9.98481739e-01 5.23476724e-02 1.71446149e-02 2.16155966e+02] [-5.23370106e-02 9.98628906e-01 -1.07027745e-03 -8.19205484e+00] [-1.71771346e-02 1.71354602e-04 9.99852447e-01 -4.73684544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02439141799996 meters 0.014879302491620748 Centerline is valid? [True, True] Translation: X:216.21, Y:-8.20, Z:-4.74 [[ 9.98428691e-01 5.32519574e-02 1.74464357e-02 2.16214189e+02] [-5.32410799e-02 9.98581096e-01 -1.08768521e-03 -8.19820045e+00] [-1.74796023e-02 1.57109046e-04 9.99847208e-01 -4.73808441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08439141799997 meters 0.014593929961528898 Centerline is valid? [True, True] Translation: X:216.27, Y:-8.21, Z:-4.74 [[ 9.98307345e-01 5.54881798e-02 1.74214308e-02 2.16272000e+02] [-5.54776965e-02 9.98459337e-01 -1.08483050e-03 -8.20567505e+00] [-1.74547856e-02 1.16493407e-04 9.99847647e-01 -4.73946746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14439141799997 meters 0.014404750833850627 Centerline is valid? [True, True] Translation: X:216.33, Y:-8.21, Z:-4.74 [[ 9.98179780e-01 5.76058880e-02 1.78518417e-02 2.16329249e+02] [-5.75952510e-02 9.98339399e-01 -1.10983306e-03 -8.21218416e+00] [-1.78861298e-02 7.96316132e-05 9.99840027e-01 -4.74048642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20439141799997 meters 0.014344576047871779 Centerline is valid? [True, True] Translation: X:216.39, Y:-8.22, Z:-4.74 [[ 9.98137997e-01 5.84355199e-02 1.74879868e-02 2.16388077e+02] [-5.84254691e-02 9.98291183e-01 -1.08552018e-03 -8.21848802e+00] [-1.75215359e-02 6.17551113e-05 9.99846484e-01 -4.74264986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26439141799997 meters 0.014567244790198644 Centerline is valid? [True, True] Translation: X:216.45, Y:-8.23, Z:-4.75 [[ 9.98184443e-01 5.79700846e-02 1.63489408e-02 2.16446420e+02] [-5.79612577e-02 9.98318319e-01 -1.01362061e-03 -8.22773341e+00] [-1.63802067e-02 6.41751502e-05 9.99865833e-01 -4.74564612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32439141799998 meters 0.014965617493516815 Centerline is valid? [True, True] Translation: X:216.50, Y:-8.24, Z:-4.75 [[ 9.98337513e-01 5.54486559e-02 1.57371204e-02 2.16503764e+02] [-5.54401812e-02 9.98461535e-01 -9.74604200e-04 -8.23849013e+00] [-1.57669499e-02 1.00515126e-04 9.99875689e-01 -4.74751643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38439141799998 meters 0.015415988174980319 Centerline is valid? [True, True] Translation: X:216.56, Y:-8.25, Z:-4.75 [[ 9.98513630e-01 5.19997773e-02 1.63264527e-02 2.16562311e+02] [-5.19902236e-02 9.98647084e-01 -1.00935031e-03 -8.24836160e+00] [-1.63568504e-02 1.59034115e-04 9.99866205e-01 -4.74669093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44439141799998 meters 0.01599838184558103 Centerline is valid? [True, True] Translation: X:216.62, Y:-8.26, Z:-4.75 [[ 9.98593923e-01 5.02169637e-02 1.69833503e-02 2.16621498e+02] [-5.02063984e-02 9.98738314e-01 -1.04816102e-03 -8.25616168e+00] [-1.70145581e-02 1.94014372e-04 9.99855223e-01 -4.74720240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50439141799998 meters 0.016528025274133395 Centerline is valid? [True, True] Translation: X:216.68, Y:-8.26, Z:-4.75 [[ 9.98666667e-01 4.83527573e-02 1.80803583e-02 2.16680431e+02] [-4.83404928e-02 9.98830293e-01 -1.11501758e-03 -8.26427248e+00] [-1.81131238e-02 2.39517463e-04 9.99835915e-01 -4.74764622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56439141799999 meters 0.017459788111352327 Centerline is valid? [True, True] Translation: X:216.74, Y:-8.27, Z:-4.75 [[ 9.98744594e-01 4.65916202e-02 1.83972093e-02 2.16739532e+02] [-4.65786398e-02 9.98913983e-01 -1.13366107e-03 -8.27205478e+00] [-1.84300488e-02 2.75320880e-04 9.99830114e-01 -4.74865541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624391418 meters 0.018551897200861072 Centerline is valid? [True, True] Translation: X:216.80, Y:-8.28, Z:-4.75 [[ 9.98863443e-01 4.39557748e-02 1.84312711e-02 2.16799972e+02] [-4.39423064e-02 9.99033425e-01 -1.13528915e-03 -8.28172048e+00] [-1.84633584e-02 3.24086273e-04 9.99829485e-01 -4.75040600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684391418 meters 0.018893551355857068 Centerline is valid? [True, True] Translation: X:216.86, Y:-8.29, Z:-4.75 [[ 9.98930450e-01 4.26891668e-02 1.77648966e-02 2.16860329e+02] [-4.26764546e-02 9.99088346e-01 -1.09424328e-03 -8.28888033e+00] [-1.77954135e-02 3.34930124e-04 9.99841593e-01 -4.75202358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744391418 meters 0.01913824756711753 Centerline is valid? [True, True] Translation: X:216.92, Y:-8.29, Z:-4.75 [[ 9.98905656e-01 4.36298792e-02 1.68500341e-02 2.16920500e+02] [-4.36185783e-02 9.99047718e-01 -1.03778204e-03 -8.29479586e+00] [-1.68792664e-02 3.01671817e-04 9.99857490e-01 -4.75493259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80439141799997 meters 0.016899951101867303 Centerline is valid? [True, True] Translation: X:216.98, Y:-8.30, Z:-4.76 [[ 9.98711367e-01 4.80425723e-02 1.63559358e-02 2.16980925e+02] [-4.80325085e-02 9.98845265e-01 -1.00780452e-03 -8.29592324e+00] [-1.63854665e-02 2.20889210e-04 9.99865725e-01 -4.75580920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86439141799997 meters 0.01533264504139052 Centerline is valid? [True, True] Translation: X:217.04, Y:-8.30, Z:-4.76 [[ 9.98410440e-01 5.37156866e-02 1.70651232e-02 2.17040399e+02] [-5.37055557e-02 9.98556261e-01 -1.05171966e-03 -8.29597671e+00] [-1.70969794e-02 1.33555971e-04 9.99853827e-01 -4.75650056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92439141799997 meters 0.014879220309618722 Centerline is valid? [True, True] Translation: X:217.10, Y:-8.30, Z:-4.76 [[ 9.98264446e-01 5.66158775e-02 1.62092089e-02 2.17098814e+02] [-5.66071306e-02 9.98396032e-01 -9.98291044e-04 -8.29799538e+00] [-1.62397289e-02 7.90016515e-05 9.99868124e-01 -4.75898610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98439141799997 meters 0.014698163880059716 Centerline is valid? [True, True] Translation: X:217.16, Y:-8.30, Z:-4.76 [[ 9.98213019e-01 5.76141689e-02 1.58548356e-02 2.17157879e+02] [-5.76059317e-02 9.98338922e-01 -9.76124263e-04 -8.30204455e+00] [-1.58847381e-02 6.10473693e-05 9.99873828e-01 -4.76035584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04439141799998 meters 0.014931918638702739 Centerline is valid? [True, True] Translation: X:217.22, Y:-8.31, Z:-4.76 [[ 9.98326603e-01 5.54558733e-02 1.63902265e-02 2.17215105e+02] [-5.54468026e-02 9.98461134e-01 -1.00767919e-03 -8.30841708e+00] [-1.64208859e-02 9.72072853e-05 9.99865163e-01 -4.76096674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10439141799998 meters 0.016399521351039534 Centerline is valid? [True, True] Translation: X:217.27, Y:-8.32, Z:-4.76 [[ 9.98614466e-01 4.96287253e-02 1.74967927e-02 2.17274647e+02] [-4.96175355e-02 9.98767715e-01 -1.07332913e-03 -8.31831309e+00] [-1.75284996e-02 2.03694266e-04 9.99846343e-01 -4.76042874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16439141799998 meters 0.020072531128926395 Centerline is valid? [True, True] Translation: X:217.34, Y:-8.33, Z:-4.76 [[ 9.99010535e-01 4.05296578e-02 1.83111482e-02 2.17335033e+02] [-4.05158927e-02 9.99178264e-01 -1.12223376e-03 -8.33160031e+00] [-1.83415850e-02 3.79230834e-04 9.99831707e-01 -4.76119512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22439141799998 meters 0.025177843254362585 Centerline is valid? [True, True] Translation: X:217.39, Y:-8.34, Z:-4.76 [[ 9.99277742e-01 3.33026225e-02 1.83010841e-02 2.17394595e+02] [-3.32876539e-02 9.99445183e-01 -1.12200642e-03 -8.34388436e+00] [-1.83282961e-02 5.11995891e-04 9.99831892e-01 -4.76351807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28439141799998 meters 0.030752732661834793 Centerline is valid? [True, True] Translation: X:217.45, Y:-8.36, Z:-4.77 [[ 9.99585588e-01 2.27350355e-02 1.76570208e-02 2.17454243e+02] [-2.27194475e-02 9.99741294e-01 -1.08294269e-03 -8.35612479e+00] [-1.76770736e-02 6.81336148e-04 9.99843516e-01 -4.76585076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344391418 meters 0.032701567823051 Centerline is valid? [True, True] Translation: X:217.52, Y:-8.36, Z:-4.77 [[ 9.99695346e-01 1.81425516e-02 1.67350770e-02 2.17515489e+02] [-1.81279090e-02 9.99835149e-01 -1.02625760e-03 -8.36214295e+00] [-1.67509371e-02 7.22572994e-04 9.99859432e-01 -4.76770031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404391418 meters 0.03219723229765908 Centerline is valid? [True, True] Translation: X:217.58, Y:-8.36, Z:-4.77 [[ 9.99743436e-01 1.49252410e-02 1.70381910e-02 2.17577150e+02] [-1.49095845e-02 9.99888299e-01 -1.04557229e-03 -8.36340285e+00] [-1.70518932e-02 7.91271686e-04 9.99854293e-01 -4.76812411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464391418 meters 0.032346066780601354 Centerline is valid? [True, True] Translation: X:217.64, Y:-8.36, Z:-4.77 [[ 9.99764870e-01 1.28772120e-02 1.74465575e-02 2.17639245e+02] [-1.28604749e-02 9.99916727e-01 -1.07119505e-03 -8.36430901e+00] [-1.74588987e-02 8.46572162e-04 9.99847223e-01 -4.76853968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52439141799996 meters 0.03483886508579693 Centerline is valid? [True, True] Translation: X:217.70, Y:-8.37, Z:-4.77 [[ 9.99791818e-01 9.95768969e-03 1.78091026e-02 2.17700820e+02] [-9.93975856e-03 9.99950000e-01 -1.09508734e-03 -8.36592685e+00] [-1.78191167e-02 9.17841186e-04 9.99840806e-01 -4.76920725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58439141799997 meters 0.03605787053106462 Centerline is valid? [True, True] Translation: X:217.76, Y:-8.37, Z:-4.77 [[ 9.99833551e-01 6.02389385e-03 1.72215794e-02 2.17761648e+02] [-6.00653185e-03 9.99981399e-01 -1.05970125e-03 -8.36535512e+00] [-1.72276426e-02 9.56082895e-04 9.99851136e-01 -4.77132922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64439141799997 meters 0.039718587262190796 Centerline is valid? [True, True] Translation: X:217.82, Y:-8.37, Z:-4.77 [[ 9.99867376e-01 2.74785869e-03 1.60523881e-02 2.17821648e+02] [-2.73234703e-03 9.99995779e-01 -9.88166623e-04 -8.36944193e+00] [-1.60550357e-02 9.44174874e-04 9.99870664e-01 -4.77439391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70439141799997 meters 0.04067778252563243 Centerline is valid? [True, True] Translation: X:217.88, Y:-8.37, Z:-4.78 [[ 9.99894083e-01 -2.98855369e-03 1.42439845e-02 2.17882559e+02] [ 3.00134633e-03 9.99995112e-01 -8.76816039e-04 -8.36699930e+00] [-1.42412945e-02 9.19474300e-04 9.99898165e-01 -4.77613355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76439141799997 meters 0.042064994853285013 Centerline is valid? [True, True] Translation: X:217.94, Y:-8.36, Z:-4.78 [[ 9.99872265e-01 -9.10894180e-03 1.31332224e-02 2.17943919e+02] [ 9.12033965e-03 9.99958082e-01 -8.08232384e-04 -8.36460310e+00] [-1.31253098e-02 9.27908594e-04 9.99913429e-01 -4.77734445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82439141799998 meters 0.04386421177995833 Centerline is valid? [True, True] Translation: X:218.01, Y:-8.36, Z:-4.78 [[ 9.99830277e-01 -1.17726807e-02 1.41711496e-02 2.18005022e+02] [ 1.17862259e-02 9.99930159e-01 -8.72694475e-04 -8.36492153e+00] [-1.41598859e-02 1.03957073e-03 9.99899203e-01 -4.77787910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88439141799998 meters 0.04535751522708563 Centerline is valid? [True, True] Translation: X:218.07, Y:-8.36, Z:-4.78 [[ 9.99807009e-01 -1.21571263e-02 1.54320856e-02 2.18067685e+02] [ 1.21732345e-02 9.99925452e-01 -9.50302025e-04 -8.36070365e+00] [-1.54193822e-02 1.13797702e-03 9.99880467e-01 -4.77748358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94439141799998 meters 0.045082905008971254 Centerline is valid? [True, True] Translation: X:218.13, Y:-8.36, Z:-4.78 [[ 9.99826129e-01 -9.60935049e-03 1.59803886e-02 2.18128290e+02] [ 9.62632999e-03 9.99953180e-01 -9.85938287e-04 -8.35818422e+00] [-1.59701662e-02 1.13959936e-03 9.99871819e-01 -4.77884047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00439141799998 meters 0.041369836585304784 Centerline is valid? [True, True] Translation: X:218.19, Y:-8.35, Z:-4.78 [[ 9.99873573e-01 -2.42083165e-03 1.57155105e-02 2.18189545e+02] [ 2.43636924e-03 9.99996562e-01 -9.69607957e-04 -8.34728191e+00] [-1.57131092e-02 1.00777416e-03 9.99876034e-01 -4.78008297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06439141799999 meters 0.038611653641124226 Centerline is valid? [True, True] Translation: X:218.25, Y:-8.34, Z:-4.78 [[ 9.99878946e-01 2.86652366e-03 1.52930408e-02 2.18250833e+02] [-2.85242717e-03 9.99995487e-01 -9.43491576e-04 -8.34082787e+00] [-1.52956763e-02 8.99755077e-04 9.99882609e-01 -4.78154023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124391418 meters 0.03400463172371487 Centerline is valid? [True, True] Translation: X:218.31, Y:-8.33, Z:-4.78 [[ 9.99833737e-01 9.82537295e-03 1.53609866e-02 2.18312663e+02] [-9.81197097e-03 9.99951412e-01 -9.47592390e-04 -8.33009895e+00] [-1.53695507e-02 7.96713286e-04 9.99881564e-01 -4.78301852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184391418 meters 0.03214000419100595 Centerline is valid? [True, True] Translation: X:218.37, Y:-8.32, Z:-4.79 [[ 9.99749870e-01 1.71042189e-02 1.44098348e-02 2.18372998e+02] [-1.70931717e-02 9.99853505e-01 -8.89460674e-04 -8.32309063e+00] [-1.44229374e-02 6.42928411e-04 9.99895777e-01 -4.78572912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244391418 meters 0.0285603903632422 Centerline is valid? [True, True] Translation: X:218.43, Y:-8.32, Z:-4.79 [[ 9.99658829e-01 2.23067753e-02 1.35879942e-02 2.18433880e+02] [-2.22974377e-02 9.99751030e-01 -8.38325233e-04 -8.31591763e+00] [-1.36033115e-02 5.35061767e-04 9.99907328e-01 -4.78780412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30439141799997 meters 0.024711424399737662 Centerline is valid? [True, True] Translation: X:218.49, Y:-8.31, Z:-4.79 [[ 9.99436896e-01 3.03664530e-02 1.42747959e-02 2.18494172e+02] [-3.03569665e-02 9.99538733e-01 -8.80823146e-04 -8.30555201e+00] [-1.42949589e-02 4.46987650e-04 9.99897722e-01 -4.78829631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36439141799997 meters 0.021173257566158465 Centerline is valid? [True, True] Translation: X:218.55, Y:-8.30, Z:-4.79 [[ 9.99309109e-01 3.41499243e-02 1.46658296e-02 2.18554999e+02] [-3.41403211e-02 9.99416640e-01 -9.04731970e-04 -8.29905353e+00] [-1.46881707e-02 4.03410767e-04 9.99892042e-01 -4.78827966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42439141799997 meters 0.020378997457230187 Centerline is valid? [True, True] Translation: X:218.61, Y:-8.30, Z:-4.79 [[ 9.99243798e-01 3.57371384e-02 1.53195850e-02 2.18614504e+02] [-3.57268408e-02 9.99361145e-01 -9.45420876e-04 -8.29585144e+00] [-1.53435847e-02 3.97385572e-04 9.99882201e-01 -4.78927514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48439141799997 meters 0.022074015770107588 Centerline is valid? [True, True] Translation: X:218.67, Y:-8.30, Z:-4.79 [[ 9.99295831e-01 3.42128940e-02 1.54051631e-02 2.18672518e+02] [-3.42023337e-02 9.99414479e-01 -9.48519819e-04 -8.29852492e+00] [-1.54285947e-02 4.20959372e-04 9.99880884e-01 -4.79175277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54439141799998 meters 0.025350017627864565 Centerline is valid? [True, True] Translation: X:218.73, Y:-8.31, Z:-4.79 [[ 9.99348491e-01 3.27487258e-02 1.51695063e-02 2.18730391e+02] [-3.27383374e-02 9.99463522e-01 -9.32708796e-04 -8.30544045e+00] [-1.51919133e-02 4.35476711e-04 9.99884501e-01 -4.79436793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60439141799998 meters 0.020535338049717692 Centerline is valid? [True, True] Translation: X:218.79, Y:-8.30, Z:-4.79 [[ 9.99365154e-01 3.25196262e-02 1.45521027e-02 2.18789277e+02] [-3.25100505e-02 9.99471009e-01 -8.94172093e-04 -8.29850884e+00] [-1.45734830e-02 4.20514837e-04 9.99893713e-01 -4.79402214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66439141799998 meters 0.020585159978010234 Centerline is valid? [True, True] Translation: X:218.85, Y:-8.30, Z:-4.80 [[ 9.99245298e-01 3.58549694e-02 1.49417700e-02 2.18847746e+02] [-3.58452679e-02 9.99356931e-01 -9.16681230e-04 -8.29833715e+00] [-1.49650290e-02 3.80397660e-04 9.99887945e-01 -4.79590683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72439141799998 meters 0.017969264395803992 Centerline is valid? [True, True] Translation: X:218.91, Y:-8.30, Z:-4.80 [[ 9.99093010e-01 3.97875471e-02 1.51693208e-02 2.18906965e+02] [-3.97780129e-02 9.99208109e-01 -9.29844208e-04 -8.29516613e+00] [-1.51943045e-02 3.25595412e-04 9.99884507e-01 -4.79638390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78439141799998 meters 0.015873514314512213 Centerline is valid? [True, True] Translation: X:218.97, Y:-8.29, Z:-4.80 [[ 9.98735014e-01 4.76134448e-02 1.61657668e-02 2.18966203e+02] [-4.76036666e-02 9.98865813e-01 -9.89355848e-04 -8.29011878e+00] [-1.61945384e-02 2.18554556e-04 9.99868836e-01 -4.79667362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844391418 meters 0.014827373708284528 Centerline is valid? [True, True] Translation: X:219.03, Y:-8.29, Z:-4.80 [[ 9.98494788e-01 5.25062249e-02 1.58509907e-02 2.19025696e+02] [-5.24974476e-02 9.98620588e-01 -9.69612685e-04 -8.28816638e+00] [-1.58800363e-02 1.36016660e-04 9.99873895e-01 -4.79871963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904391418 meters 0.014249411459779449 Centerline is valid? [True, True] Translation: X:219.08, Y:-8.29, Z:-4.80 [[ 9.98339326e-01 5.56190222e-02 1.50038454e-02 2.19084414e+02] [-5.56115428e-02 9.98452061e-01 -9.15579561e-04 -8.28811793e+00] [-1.50315440e-02 7.96720923e-05 9.99887017e-01 -4.80104019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964391418 meters 0.014456463699905452 Centerline is valid? [True, True] Translation: X:219.14, Y:-8.29, Z:-4.80 [[ 9.98403034e-01 5.45959493e-02 1.45142604e-02 2.19141536e+02] [-5.45888562e-02 9.98508525e-01 -8.84726278e-04 -8.29255678e+00] [-1.45409152e-02 9.09965268e-05 9.99894271e-01 -4.80341464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02439141799996 meters 0.014843801463894213 Centerline is valid? [True, True] Translation: X:219.20, Y:-8.30, Z:-4.80 [[ 9.98616441e-01 5.04939502e-02 1.46821187e-02 2.19200136e+02] [-5.04862724e-02 9.98724355e-01 -8.93345011e-04 -8.29822971e+00] [-1.47084980e-02 1.50863573e-04 9.99891813e-01 -4.80307797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08439141799997 meters 0.01651786571637726 Centerline is valid? [True, True] Translation: X:219.26, Y:-8.31, Z:-4.80 [[ 9.98932776e-01 4.35926386e-02 1.52640151e-02 2.19258775e+02] [-4.35835544e-02 9.99049355e-01 -9.27439257e-04 -8.30746880e+00] [-1.52899340e-02 2.61189439e-04 9.99883068e-01 -4.80378932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14439141799997 meters 0.019713593987484977 Centerline is valid? [True, True] Translation: X:219.32, Y:-8.32, Z:-4.81 [[ 9.99269215e-01 3.54516945e-02 1.42903190e-02 2.19317688e+02] [-3.54429196e-02 9.99371326e-01 -8.66911639e-04 -8.31924785e+00] [-1.43120686e-02 3.59787484e-04 9.99897512e-01 -4.80666651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20439141799997 meters 0.021772455562445437 Centerline is valid? [True, True] Translation: X:219.38, Y:-8.33, Z:-4.81 [[ 9.99460361e-01 2.97230454e-02 1.39831180e-02 2.19376498e+02] [-2.97140886e-02 9.99558079e-01 -8.47912639e-04 -8.32641708e+00] [-1.40021411e-02 4.31959465e-04 9.99901872e-01 -4.80787133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26439141799997 meters 0.025425884416139567 Centerline is valid? [True, True] Translation: X:219.43, Y:-8.34, Z:-4.81 [[ 9.99528399e-01 2.70868077e-02 1.44666835e-02 2.19434966e+02] [-2.70769606e-02 9.99632968e-01 -8.76150978e-04 -8.33598323e+00] [-1.44851059e-02 4.84023966e-04 9.99894968e-01 -4.80980688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32439141799998 meters 0.028728379670234293 Centerline is valid? [True, True] Translation: X:219.50, Y:-8.34, Z:-4.81 [[ 9.99700275e-01 1.81985973e-02 1.63759573e-02 2.19495400e+02] [-1.81848052e-02 9.99834152e-01 -9.90739408e-04 -8.34496919e+00] [-1.63912714e-02 6.92648865e-04 9.99865414e-01 -4.80955455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38439141799998 meters 0.03589822671778723 Centerline is valid? [True, True] Translation: X:219.55, Y:-8.36, Z:-4.81 [[ 9.99777309e-01 1.09117017e-02 1.80628796e-02 2.19554443e+02] [-1.08937295e-02 9.99940064e-01 -1.09307845e-03 -8.35773040e+00] [-1.80737243e-02 8.96062907e-04 9.99836255e-01 -4.80948787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44439141799998 meters 0.035316259133792514 Centerline is valid? [True, True] Translation: X:219.62, Y:-8.36, Z:-4.81 [[ 9.99797055e-01 7.73782072e-03 1.86004093e-02 2.19615528e+02] [-7.71822519e-03 9.99969581e-01 -1.12505742e-03 -8.35954093e+00] [-1.86085490e-02 9.81266948e-04 9.99826364e-01 -4.80990593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50439141799998 meters 0.03420641546302363 Centerline is valid? [True, True] Translation: X:219.68, Y:-8.36, Z:-4.81 [[ 9.99803792e-01 6.73277779e-03 1.86291804e-02 2.19677927e+02] [-6.71294384e-03 9.99976833e-01 -1.12700117e-03 -8.36027173e+00] [-1.86363366e-02 1.00172340e-03 9.99825827e-01 -4.81164991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56439141799999 meters 0.0328872137078352 Centerline is valid? [True, True] Translation: X:219.74, Y:-8.36, Z:-4.81 [[ 9.99787589e-01 8.17848585e-03 1.89179876e-02 2.19740054e+02] [-8.15818694e-03 9.99966060e-01 -1.14992281e-03 -8.36037667e+00] [-1.89267501e-02 9.95342074e-04 9.99820378e-01 -4.81298369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624391418 meters 0.031048328771131024 Centerline is valid? [True, True] Translation: X:219.80, Y:-8.36, Z:-4.82 [[ 9.99779272e-01 1.13616786e-02 1.76725759e-02 2.19801692e+02] [-1.13443596e-02 9.99935068e-01 -1.07993680e-03 -8.35794957e+00] [-1.76836983e-02 8.79214367e-04 9.99843245e-01 -4.81523782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684391418 meters 0.029455162197308406 Centerline is valid? [True, True] Translation: X:219.86, Y:-8.35, Z:-4.82 [[ 9.99729596e-01 1.70928546e-02 1.57660792e-02 2.19861601e+02] [-1.70797694e-02 9.99853665e-01 -9.64247287e-04 -8.35499025e+00] [-1.57802538e-02 6.94705553e-04 9.99875243e-01 -4.81802815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74439141799996 meters 0.025810614722373712 Centerline is valid? [True, True] Translation: X:219.92, Y:-8.35, Z:-4.82 [[ 9.99623365e-01 2.23608543e-02 1.59097779e-02 2.19922966e+02] [-2.23481977e-02 9.99749774e-01 -9.72890096e-04 -8.34993062e+00] [-1.59275515e-02 6.16968811e-04 9.99872958e-01 -4.81946760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80439141799997 meters 0.020192081861002024 Centerline is valid? [True, True] Translation: X:219.98, Y:-8.34, Z:-4.82 [[ 9.99278254e-01 3.35650983e-02 1.77863600e-02 2.19984626e+02] [-3.35510424e-02 9.99436413e-01 -1.08816055e-03 -8.33906584e+00] [-1.78128600e-02 4.90624253e-04 9.99841218e-01 -4.81815685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86439141799997 meters 0.01752071195561377 Centerline is valid? [True, True] Translation: X:220.04, Y:-8.33, Z:-4.82 [[ 9.98972865e-01 4.12554446e-02 1.87404002e-02 2.20044703e+02] [-4.12411821e-02 9.99148562e-01 -1.14705260e-03 -8.33407062e+00] [-1.87717660e-02 3.72998165e-04 9.99823725e-01 -4.81803273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92439141799997 meters 0.014882779305250688 Centerline is valid? [True, True] Translation: X:220.10, Y:-8.33, Z:-4.82 [[ 9.98549329e-01 5.02678436e-02 1.92971776e-02 2.20104752e+02] [-5.02544182e-02 9.98735751e-01 -1.18032510e-03 -8.32831064e+00] [-1.93321135e-02 2.08844407e-04 9.99813095e-01 -4.81951783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98439141799997 meters 0.014531808706350884 Centerline is valid? [True, True] Translation: X:220.16, Y:-8.33, Z:-4.82 [[ 9.98360460e-01 5.42434649e-02 1.82767327e-02 2.20162262e+02] [-5.42320968e-02 9.98527732e-01 -1.11742937e-03 -8.32868377e+00] [-1.83104376e-02 1.24411768e-04 9.99832342e-01 -4.82192863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04439141799998 meters 0.014078773662772468 Centerline is valid? [True, True] Translation: X:220.22, Y:-8.33, Z:-4.82 [[ 9.98188306e-01 5.77139044e-02 1.70062093e-02 2.20221351e+02] [-5.77045934e-02 9.98333162e-01 -1.03810707e-03 -8.32867538e+00] [-1.70377759e-02 5.48899465e-05 9.99854845e-01 -4.82351283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10439141799998 meters 0.014067412651143854 Centerline is valid? [True, True] Translation: X:220.28, Y:-8.33, Z:-4.83 [[ 9.97904914e-01 6.28465794e-02 1.53652032e-02 2.20279546e+02] [-6.28396019e-02 9.98023199e-01 -9.36968609e-04 -8.32801024e+00] [-1.53937146e-02 -3.05376749e-05 9.99881509e-01 -4.82544212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16439141799998 meters 0.014411828084610206 Centerline is valid? [True, True] Translation: X:220.34, Y:-8.33, Z:-4.83 [[ 9.97704017e-01 6.59120897e-02 1.55656808e-02 2.20338820e+02] [-6.59053289e-02 9.97825431e-01 -9.47464956e-04 -8.32928078e+00] [-1.55942815e-02 -8.05717170e-05 9.99878399e-01 -4.82606496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22439141799998 meters 0.014701133153252038 Centerline is valid? [True, True] Translation: X:220.40, Y:-8.33, Z:-4.83 [[ 9.97441047e-01 6.95130327e-02 1.67121283e-02 2.20397407e+02] [-6.95057693e-02 9.97581032e-01 -1.01576285e-03 -8.33244554e+00] [-1.67423110e-02 -1.48425770e-04 9.99859827e-01 -4.82600547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28439141799998 meters 0.014784610278088443 Centerline is valid? [True, True] Translation: X:220.46, Y:-8.34, Z:-4.83 [[ 9.97463049e-01 6.90378946e-02 1.73561372e-02 2.20455657e+02] [-6.90300148e-02 9.97614027e-01 -1.05340657e-03 -8.33799315e+00] [-1.73874509e-02 -1.47360273e-04 9.99848816e-01 -4.82701145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344391418 meters 0.014184685716731607 Centerline is valid? [True, True] Translation: X:220.51, Y:-8.35, Z:-4.83 [[ 9.97737771e-01 6.48176136e-02 1.78330389e-02 2.20514110e+02] [-6.48086475e-02 9.97897124e-01 -1.08084238e-03 -8.34770577e+00] [-1.78655959e-02 -7.73378664e-05 9.99840395e-01 -4.82794875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404391418 meters 0.013941961174022225 Centerline is valid? [True, True] Translation: X:220.57, Y:-8.36, Z:-4.83 [[ 9.98208410e-01 5.72909285e-02 1.72545741e-02 2.20571302e+02] [-5.72814296e-02 9.98357524e-01 -1.04463607e-03 -8.36217568e+00] [-1.72860821e-02 5.43978339e-05 9.99850583e-01 -4.82985238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464391418 meters 0.014732011722554493 Centerline is valid? [True, True] Translation: X:220.63, Y:-8.37, Z:-4.83 [[ 9.98551033e-01 5.13302682e-02 1.61566982e-02 2.20628976e+02] [-5.13211898e-02 9.98681722e-01 -9.76286820e-04 -8.37460860e+00] [-1.61855122e-02 1.45691237e-04 9.99868995e-01 -4.83274455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52439141799996 meters 0.016794584083258093 Centerline is valid? [True, True] Translation: X:220.69, Y:-8.39, Z:-4.84 [[ 9.98932681e-01 4.38045008e-02 1.46514453e-02 2.20686524e+02] [-4.37962469e-02 9.99040093e-01 -8.83886404e-04 -8.39102920e+00] [-1.46760994e-02 2.41264700e-04 9.99892271e-01 -4.83648213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58439141799997 meters 0.01769918537153892 Centerline is valid? [True, True] Translation: X:220.74, Y:-8.40, Z:-4.84 [[ 9.99071430e-01 4.04032002e-02 1.49619226e-02 2.20744544e+02] [-4.03942286e-02 9.99183413e-01 -9.01473768e-04 -8.40286114e+00] [-1.49861273e-02 2.96261364e-04 9.99887658e-01 -4.83781880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64439141799997 meters 0.01738069446763332 Centerline is valid? [True, True] Translation: X:220.80, Y:-8.41, Z:-4.84 [[ 9.98993054e-01 4.23553660e-02 1.47952905e-02 2.20801706e+02] [-4.23468223e-02 9.99102574e-01 -8.90406043e-04 -8.40986163e+00] [-1.48197263e-02 2.62975913e-04 9.99890147e-01 -4.83928054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70439141799997 meters 0.01669898382865158 Centerline is valid? [True, True] Translation: X:220.86, Y:-8.41, Z:-4.84 [[ 9.98852155e-01 4.55398069e-02 1.48492227e-02 2.20860166e+02] [-4.55315765e-02 9.98962502e-01 -8.92038628e-04 -8.41304598e+00] [-1.48744399e-02 2.14906187e-04 9.99889346e-01 -4.84074320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76439141799997 meters 0.014749702981376006 Centerline is valid? [True, True] Translation: X:220.92, Y:-8.41, Z:-4.84 [[ 9.98513857e-01 5.24696878e-02 1.47312317e-02 2.20918834e+02] [-5.24623577e-02 9.98622511e-01 -8.83849998e-04 -8.41433939e+00] [-1.47573149e-02 1.09701325e-04 9.99891099e-01 -4.84179910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82439141799998 meters 0.014334545268763894 Centerline is valid? [True, True] Translation: X:220.98, Y:-8.41, Z:-4.84 [[ 9.98006972e-01 6.15222951e-02 1.40389221e-02 2.20978119e+02] [-6.15165477e-02 9.98105709e-01 -8.41268767e-04 -8.41453211e+00] [-1.40640851e-02 -2.40339294e-05 9.99901096e-01 -4.84315832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88439141799998 meters 0.015557909061666547 Centerline is valid? [True, True] Translation: X:221.04, Y:-8.42, Z:-4.85 [[ 9.97615083e-01 6.76935615e-02 1.34806534e-02 2.21035878e+02] [-6.76888317e-02 9.97706154e-01 -8.07337383e-04 -8.41540898e+00] [-1.35043824e-02 -1.07077730e-04 9.99908806e-01 -4.84527133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94439141799998 meters 0.016931347754789126 Centerline is valid? [True, True] Translation: X:221.09, Y:-8.42, Z:-4.85 [[ 9.97058354e-01 7.54961068e-02 1.32278848e-02 2.21094912e+02] [-7.54922739e-02 9.97146074e-01 -7.89555342e-04 -8.41764579e+00] [-1.32497417e-02 -2.11370350e-04 9.99912196e-01 -4.84635817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00439141799998 meters 0.01824988296233383 Centerline is valid? [True, True] Translation: X:221.15, Y:-8.42, Z:-4.85 [[ 9.96832103e-01 7.83841510e-02 1.34790058e-02 2.21152701e+02] [-7.83804420e-02 9.96923197e-01 -8.04037854e-04 -8.42167880e+00] [-1.35005574e-02 -2.54999689e-04 9.99908831e-01 -4.84745767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06439141799999 meters 0.018133934397450622 Centerline is valid? [True, True] Translation: X:221.21, Y:-8.43, Z:-4.85 [[ 9.96801149e-01 7.85023181e-02 1.49951754e-02 2.21210628e+02] [-7.84977688e-02 9.96913890e-01 -8.92635611e-04 -8.43071795e+00] [-1.50189726e-02 -2.87307611e-04 9.99887168e-01 -4.84728933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124391418 meters 0.015822676282582226 Centerline is valid? [True, True] Translation: X:221.27, Y:-8.45, Z:-4.85 [[ 9.97245111e-01 7.22901217e-02 1.66230786e-02 2.21268964e+02] [-7.22836875e-02 9.97383623e-01 -9.88358923e-04 -8.44673596e+00] [-1.66510350e-02 -2.15941316e-04 9.99861339e-01 -4.84702108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184391418 meters 0.015109638543562445 Centerline is valid? [True, True] Translation: X:221.33, Y:-8.46, Z:-4.85 [[ 9.97485300e-01 6.88844516e-02 1.66736117e-02 2.21327626e+02] [-6.88775444e-02 9.97624632e-01 -9.88848175e-04 -8.45520200e+00] [-1.67021220e-02 -1.62075912e-04 9.99860497e-01 -4.84853022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24439141799996 meters 0.014201332603864664 Centerline is valid? [True, True] Translation: X:221.39, Y:-8.48, Z:-4.85 [[ 9.98336384e-01 5.52884463e-02 1.63600620e-02 2.21385572e+02] [-5.52799902e-02 9.98470422e-01 -9.68991515e-04 -8.47619788e+00] [-1.63886120e-02 6.29954203e-05 9.99865696e-01 -4.85069476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30439141799997 meters 0.016606361201357077 Centerline is valid? [True, True] Translation: X:221.44, Y:-8.49, Z:-4.85 [[ 9.98887600e-01 4.41268617e-02 1.66247750e-02 2.21443381e+02] [-4.41166082e-02 9.99025905e-01 -9.83173139e-04 -8.49453971e+00] [-1.66519652e-02 2.48650772e-04 9.99861315e-01 -4.85256770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36439141799997 meters 0.022456831440302086 Centerline is valid? [True, True] Translation: X:221.50, Y:-8.52, Z:-4.85 [[ 9.99472316e-01 2.75954546e-02 1.71341892e-02 2.21503024e+02] [-2.75821575e-02 9.99619028e-01 -1.01193328e-03 -8.51686371e+00] [-1.71555863e-02 5.38801394e-04 9.99852687e-01 -4.85315607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42439141799997 meters 0.031106723002175225 Centerline is valid? [True, True] Translation: X:221.56, Y:-8.54, Z:-4.86 [[ 9.99737296e-01 1.50434135e-02 1.72926260e-02 2.21561374e+02] [-1.50280004e-02 9.99886552e-01 -1.02092081e-03 -8.53857116e+00] [-1.73060223e-02 7.60779016e-04 9.99849950e-01 -4.85530514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48439141799997 meters 0.03358084892507217 Centerline is valid? [True, True] Translation: X:221.62, Y:-8.55, Z:-4.86 [[ 9.99816429e-01 9.35688794e-03 1.67199809e-02 2.21621728e+02] [-9.34165758e-03 9.99955877e-01 -9.88779119e-04 -8.54816432e+00] [-1.67284951e-02 8.32405271e-04 9.99859722e-01 -4.85760495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54439141799998 meters 0.034106031345452606 Centerline is valid? [True, True] Translation: X:221.68, Y:-8.55, Z:-4.86 [[ 9.99842912e-01 5.29836585e-03 1.69138346e-02 2.21682829e+02] [-5.28220270e-03 9.99985549e-01 -1.00014861e-03 -8.55379752e+00] [-1.69188893e-02 9.10649194e-04 9.99856451e-01 -4.85865554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60439141799998 meters 0.035189007162984884 Centerline is valid? [True, True] Translation: X:221.74, Y:-8.56, Z:-4.86 [[ 9.99854688e-01 2.18326813e-03 1.69066677e-02 2.21743772e+02] [-2.16666142e-03 9.99997152e-01 -1.00051302e-03 -8.55876800e+00] [-1.69088040e-02 9.63736607e-04 9.99856571e-01 -4.85945330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66439141799998 meters 0.03482171113414106 Centerline is valid? [True, True] Translation: X:221.81, Y:-8.56, Z:-4.86 [[ 9.99858671e-01 1.70206298e-03 1.67254431e-02 2.21806287e+02] [-1.68576162e-03 9.99998090e-01 -9.88694797e-04 -8.56030411e+00] [-1.67270940e-02 9.60359956e-04 9.99859631e-01 -4.86047170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72439141799998 meters 0.03593781043523982 Centerline is valid? [True, True] Translation: X:221.87, Y:-8.56, Z:-4.86 [[ 9.99872975e-01 2.36204217e-03 1.57624647e-02 2.21868284e+02] [-2.34755867e-03 9.99996805e-01 -9.37299216e-04 -8.56374021e+00] [-1.57646283e-02 9.00176844e-04 9.99875325e-01 -4.86389447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78439141799998 meters 0.037448463333844495 Centerline is valid? [True, True] Translation: X:221.93, Y:-8.57, Z:-4.87 [[ 9.99886310e-01 2.94565887e-03 1.47881691e-02 2.21929621e+02] [-2.93296626e-03 9.99995312e-01 -8.79908956e-04 -8.56686129e+00] [-1.47906917e-02 8.36435718e-04 9.99890262e-01 -4.86542509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844391418 meters 0.03731138780702234 Centerline is valid? [True, True] Translation: X:221.99, Y:-8.57, Z:-4.87 [[ 9.99900592e-01 4.09403013e-03 1.34923775e-02 2.21991827e+02] [-4.08355698e-03 9.99991339e-01 -8.03686008e-04 -8.56590744e+00] [-1.34955510e-02 7.48509223e-04 9.99908651e-01 -4.86818755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904391418 meters 0.035665024667788786 Centerline is valid? [True, True] Translation: X:222.05, Y:-8.56, Z:-4.87 [[ 9.99880590e-01 6.39768051e-03 1.40668207e-02 2.22053857e+02] [-6.38644395e-03 9.99979251e-01 -8.43575236e-04 -8.56117337e+00] [-1.40719257e-02 7.53637543e-04 9.99900702e-01 -4.86815943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964391418 meters 0.03227358211094805 Centerline is valid? [True, True] Translation: X:222.12, Y:-8.55, Z:-4.87 [[ 9.99846230e-01 8.73019389e-03 1.52085277e-02 2.22115765e+02] [-8.71730192e-03 9.99961586e-01 -9.13768057e-04 -8.55478167e+00] [-1.52159209e-02 7.81050219e-04 9.99883926e-01 -4.86723645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02439141799996 meters 0.031941277987624334 Centerline is valid? [True, True] Translation: X:222.18, Y:-8.55, Z:-4.87 [[ 9.99775351e-01 1.30239755e-02 1.67219630e-02 2.22176265e+02] [-1.30089720e-02 9.99914874e-01 -1.00569773e-03 -8.55042618e+00] [-1.67336377e-02 7.87936252e-04 9.99859672e-01 -4.86769353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08439141799997 meters 0.028244601858082353 Centerline is valid? [True, True] Translation: X:222.24, Y:-8.54, Z:-4.87 [[ 9.99725326e-01 1.63162797e-02 1.68241373e-02 2.22238556e+02] [-1.63015629e-02 9.99866609e-01 -1.01152188e-03 -8.54398434e+00] [-1.68383974e-02 7.36984309e-04 9.99857953e-01 -4.86844130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14439141799997 meters 0.027425118431538994 Centerline is valid? [True, True] Translation: X:222.30, Y:-8.54, Z:-4.87 [[ 9.99649579e-01 2.08730033e-02 1.62799801e-02 2.22298544e+02] [-2.08598030e-02 9.99781930e-01 -9.80238484e-04 -8.53838624e+00] [-1.62968905e-02 6.40297810e-04 9.99866992e-01 -4.87033445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20439141799997 meters 0.025463490108810077 Centerline is valid? [True, True] Translation: X:222.36, Y:-8.53, Z:-4.87 [[ 9.99583356e-01 2.39334558e-02 1.61339640e-02 2.22360442e+02] [-2.39209002e-02 9.99713383e-01 -9.70769745e-04 -8.53441104e+00] [-1.61525736e-02 5.84426337e-04 9.99869368e-01 -4.87161088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26439141799997 meters 0.02394929739885172 Centerline is valid? [True, True] Translation: X:222.42, Y:-8.53, Z:-4.87 [[ 9.99497340e-01 2.75476732e-02 1.56905359e-02 2.22421667e+02] [-2.75362314e-02 9.99620360e-01 -9.44829474e-04 -8.52893235e+00] [-1.57106070e-02 5.12296317e-04 9.99876450e-01 -4.87280335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32439141799998 meters 0.021782040988212407 Centerline is valid? [True, True] Translation: X:222.48, Y:-8.52, Z:-4.87 [[ 9.99402762e-01 3.09982571e-02 1.52717586e-02 2.22481537e+02] [-3.09878097e-02 9.99519339e-01 -9.20311618e-04 -8.52130226e+00] [-1.52929461e-02 4.46523623e-04 9.99882956e-01 -4.87385849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38439141799998 meters 0.020063438200156755 Centerline is valid? [True, True] Translation: X:222.54, Y:-8.52, Z:-4.87 [[ 9.99302345e-01 3.40075862e-02 1.54371837e-02 2.22541983e+02] [-3.39972818e-02 9.99421493e-01 -9.29514227e-04 -8.51806964e+00] [-1.54598637e-02 4.04043462e-04 9.99880408e-01 -4.87483898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44439141799998 meters 0.01945198469934968 Centerline is valid? [True, True] Translation: X:222.60, Y:-8.51, Z:-4.88 [[ 9.99138006e-01 3.83882349e-02 1.57983465e-02 2.22599789e+02] [-3.83779873e-02 9.99262841e-01 -9.51423132e-04 -8.51482163e+00] [-1.58232240e-02 3.44294272e-04 9.99874746e-01 -4.87637209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50439141799998 meters 0.017710520532786714 Centerline is valid? [True, True] Translation: X:222.66, Y:-8.51, Z:-4.88 [[ 9.99006859e-01 4.16912966e-02 1.57203994e-02 2.22659538e+02] [-4.16815825e-02 9.99130498e-01 -9.45211330e-04 -8.51020504e+00] [-1.57461376e-02 2.89021477e-04 9.99875980e-01 -4.87693091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56439141799999 meters 0.0168471949392789 Centerline is valid? [True, True] Translation: X:222.72, Y:-8.51, Z:-4.88 [[ 9.98870709e-01 4.45510680e-02 1.65078341e-02 2.22718123e+02] [-4.45407807e-02 9.99007076e-01 -9.90498458e-04 -8.50940468e+00] [-1.65355708e-02 2.54108080e-04 9.99863246e-01 -4.87753830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624391418 meters 0.01647205270897182 Centerline is valid? [True, True] Translation: X:222.78, Y:-8.51, Z:-4.88 [[ 9.98819617e-01 4.54070803e-02 1.72501955e-02 2.22777266e+02] [-4.53959995e-02 9.98968536e-01 -1.03358782e-03 -8.51198559e+00] [-1.72793347e-02 2.49277930e-04 9.99850670e-01 -4.87817899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684391418 meters 0.016542313274358067 Centerline is valid? [True, True] Translation: X:222.84, Y:-8.52, Z:-4.88 [[ 9.98845647e-01 4.46167826e-02 1.77965377e-02 2.22836134e+02] [-4.46048897e-02 9.99004139e-01 -1.06485003e-03 -8.51597212e+00] [-1.78263250e-02 2.69808213e-04 9.99841062e-01 -4.87921549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74439141799996 meters 0.017356389409491326 Centerline is valid? [True, True] Translation: X:222.89, Y:-8.52, Z:-4.88 [[ 9.98954647e-01 4.24029873e-02 1.70762983e-02 2.22894633e+02] [-4.23917368e-02 9.99100545e-01 -1.02043745e-03 -8.52236373e+00] [-1.71042085e-02 2.95476791e-04 9.99853669e-01 -4.88160295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80439141799997 meters 0.020882988859499813 Centerline is valid? [True, True] Translation: X:222.95, Y:-8.54, Z:-4.88 [[ 9.99211384e-01 3.63317373e-02 1.60192033e-02 2.22951953e+02] [-3.63210793e-02 9.99339715e-01 -9.55854917e-04 -8.53514709e+00] [-1.60433539e-02 3.73266363e-04 9.99871227e-01 -4.88491046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86439141799997 meters 0.023597858153070566 Centerline is valid? [True, True] Translation: X:223.01, Y:-8.55, Z:-4.89 [[ 9.99369345e-01 3.19342751e-02 1.55278722e-02 2.23010719e+02] [-3.19237376e-02 9.99489879e-01 -9.26076973e-04 -8.54502413e+00] [-1.55495247e-02 4.29785218e-04 9.99879006e-01 -4.88710282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92439141799997 meters 0.024812063796432877 Centerline is valid? [True, True] Translation: X:223.07, Y:-8.55, Z:-4.89 [[ 9.99564136e-01 2.52053834e-02 1.53696931e-02 2.23070750e+02] [-2.51942832e-02 9.99682155e-01 -9.15439004e-04 -8.55358657e+00] [-1.53878819e-02 5.27811596e-04 9.99881460e-01 -4.88795094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98439141799997 meters 0.028794727580249792 Centerline is valid? [True, True] Translation: X:223.13, Y:-8.57, Z:-4.89 [[ 9.99675892e-01 1.95404015e-02 1.63182044e-02 2.23130344e+02] [-1.95271428e-02 9.99808855e-01 -9.71461842e-04 -8.56560389e+00] [-1.63340680e-02 6.52499076e-04 9.99866377e-01 -4.88842081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04439141799998 meters 0.02844434520494444 Centerline is valid? [True, True] Translation: X:223.19, Y:-8.57, Z:-4.89 [[ 9.99719527e-01 1.70093326e-02 1.64787526e-02 2.23192097e+02] [-1.69954620e-02 9.99855085e-01 -9.81411154e-04 -8.57080148e+00] [-1.64930577e-02 7.01071881e-04 9.99863734e-01 -4.88949888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10439141799998 meters 0.028819262484539886 Centerline is valid? [True, True] Translation: X:223.25, Y:-8.58, Z:-4.89 [[ 9.99723067e-01 1.67089679e-02 1.65710593e-02 2.23254294e+02] [-1.66948295e-02 9.99860140e-01 -9.91181277e-04 -8.57572067e+00] [-1.65853033e-02 7.14255777e-04 9.99862199e-01 -4.89078473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16439141799998 meters 0.02932071666905308 Centerline is valid? [True, True] Translation: X:223.32, Y:-8.58, Z:-4.89 [[ 9.99733475e-01 1.59530514e-02 1.66876819e-02 2.23316326e+02] [-1.59385290e-02 9.99872471e-01 -1.00289417e-03 -8.58106783e+00] [-1.67015530e-02 7.36649773e-04 9.99860248e-01 -4.89226706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22439141799998 meters 0.029124106422462187 Centerline is valid? [True, True] Translation: X:223.38, Y:-8.58, Z:-4.89 [[ 9.99762844e-01 1.53716816e-02 1.54261920e-02 2.23378503e+02] [-1.53591433e-02 9.99881608e-01 -9.30946050e-04 -8.58453241e+00] [-1.54386758e-02 6.93792178e-04 9.99880576e-01 -4.89424130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28439141799998 meters 0.029926199326205386 Centerline is valid? [True, True] Translation: X:223.44, Y:-8.59, Z:-4.90 [[ 9.99781397e-01 1.55335512e-02 1.39952561e-02 2.23440539e+02] [-1.55231989e-02 9.99879148e-01 -8.48031839e-04 -8.58966351e+00] [-1.40067377e-02 6.30595312e-04 9.99901702e-01 -4.89741569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344391418 meters 0.029540916263266024 Centerline is valid? [True, True] Translation: X:223.50, Y:-8.59, Z:-4.90 [[ 9.99758805e-01 1.68655060e-02 1.40672264e-02 2.23503164e+02] [-1.68551221e-02 9.99857576e-01 -8.56403837e-04 -8.59195323e+00] [-1.40796666e-02 6.19092458e-04 9.99900685e-01 -4.89836915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404391418 meters 0.027723035558759226 Centerline is valid? [True, True] Translation: X:223.57, Y:-8.59, Z:-4.90 [[ 9.99667206e-01 2.09864985e-02 1.50014447e-02 2.23565426e+02] [-2.09750599e-02 9.99779576e-01 -9.19447849e-04 -8.59015425e+00] [-1.50174341e-02 6.04485661e-04 9.99887049e-01 -4.89799025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464391418 meters 0.022969786957351603 Centerline is valid? [True, True] Translation: X:223.63, Y:-8.58, Z:-4.90 [[ 9.99410291e-01 3.05214929e-02 1.57323825e-02 2.23626344e+02] [-3.05100706e-02 9.99533993e-01 -9.65599583e-04 -8.58282501e+00] [-1.57545227e-02 4.85034059e-04 9.99875772e-01 -4.89838189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52439141799996 meters 0.01885287576733418 Centerline is valid? [True, True] Translation: X:223.69, Y:-8.58, Z:-4.90 [[ 9.99165025e-01 3.74022995e-02 1.64414521e-02 2.23686359e+02] [-3.73907507e-02 9.99300212e-01 -1.00936733e-03 -8.57676061e+00] [-1.64676992e-02 3.93766291e-04 9.99864321e-01 -4.89860268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58439141799997 meters 0.01621798143056958 Centerline is valid? [True, True] Translation: X:223.75, Y:-8.57, Z:-4.90 [[ 9.98782361e-01 4.64552635e-02 1.66043056e-02 2.23746419e+02] [-4.64447464e-02 9.98920341e-01 -1.01866015e-03 -8.57091229e+00] [-1.66337008e-02 2.46237022e-04 9.99861620e-01 -4.89967323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64439141799997 meters 0.01514207046614171 Centerline is valid? [True, True] Translation: X:223.81, Y:-8.57, Z:-4.90 [[ 9.98589106e-01 5.09295241e-02 1.50326430e-02 2.23805883e+02] [-5.09214165e-02 9.98702238e-01 -9.21848046e-04 -8.56976051e+00] [-1.50600835e-02 1.55063938e-04 9.99886578e-01 -4.90328361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70439141799997 meters 0.015069076400289216 Centerline is valid? [True, True] Translation: X:223.87, Y:-8.57, Z:-4.91 [[ 9.98610724e-01 5.09764468e-02 1.33425681e-02 2.23865049e+02] [-5.09700706e-02 9.98699846e-01 -8.17725657e-04 -8.57173431e+00] [-1.33669054e-02 1.36517974e-04 9.99910650e-01 -4.90575740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76439141799997 meters 0.015658607489066844 Centerline is valid? [True, True] Translation: X:223.92, Y:-8.57, Z:-4.91 [[ 9.98734613e-01 4.84269010e-02 1.35649799e-02 2.23923470e+02] [-4.84200908e-02 9.98826714e-01 -8.30209748e-04 -8.57491844e+00] [-1.35892688e-02 1.72341650e-04 9.99907647e-01 -4.90673798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82439141799998 meters 0.016794360122942182 Centerline is valid? [True, True] Translation: X:223.98, Y:-8.58, Z:-4.91 [[ 9.98911692e-01 4.40045112e-02 1.54607306e-02 2.23982067e+02] [-4.39951580e-02 9.99031298e-01 -9.44727730e-04 -8.58038742e+00] [-1.54873260e-02 2.63502289e-04 9.99880029e-01 -4.90595425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88439141799998 meters 0.018403409226198694 Centerline is valid? [True, True] Translation: X:224.04, Y:-8.59, Z:-4.91 [[ 9.99062155e-01 4.00007628e-02 1.65755667e-02 2.24040867e+02] [-3.99894854e-02 9.99199589e-01 -1.01138052e-03 -8.58676539e+00] [-1.66027555e-02 3.47583615e-04 9.99862104e-01 -4.90645356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94439141799998 meters 0.02066362490756307 Centerline is valid? [True, True] Translation: X:224.10, Y:-8.59, Z:-4.91 [[ 9.99297256e-01 3.34025365e-02 1.70077755e-02 2.24100344e+02] [-3.33897352e-02 9.99441870e-01 -1.03615625e-03 -8.59420959e+00] [-1.70328932e-02 4.67542971e-04 9.99854820e-01 -4.90758201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00439141799998 meters 0.02293407432399551 Centerline is valid? [True, True] Translation: X:224.16, Y:-8.60, Z:-4.91 [[ 9.99466276e-01 2.77263512e-02 1.72746115e-02 2.24160233e+02] [-2.77123119e-02 9.99615387e-01 -1.05160576e-03 -8.60167055e+00] [-1.72971247e-02 5.72325069e-04 9.99850230e-01 -4.90976885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06439141799999 meters 0.025872017468257253 Centerline is valid? [True, True] Translation: X:224.22, Y:-8.61, Z:-4.91 [[ 9.99515100e-01 2.58779931e-02 1.73174697e-02 2.24219428e+02] [-2.58636131e-02 9.99664925e-01 -1.05385904e-03 -8.61005214e+00] [-1.73389388e-02 6.05455691e-04 9.99849486e-01 -4.91187578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124391418 meters 0.02392774909426303 Centerline is valid? [True, True] Translation: X:224.28, Y:-8.61, Z:-4.91 [[ 9.99520009e-01 2.56715387e-02 1.73413730e-02 2.24279939e+02] [-2.56570957e-02 9.99670246e-01 -1.05487227e-03 -8.61004173e+00] [-1.73627348e-02 6.09436671e-04 9.99849071e-01 -4.91342260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184391418 meters 0.023545537098172253 Centerline is valid? [True, True] Translation: X:224.34, Y:-8.61, Z:-4.91 [[ 9.99454943e-01 2.79493219e-02 1.75684925e-02 2.24340482e+02] [-2.79348494e-02 9.99609175e-01 -1.06868790e-03 -8.61229067e+00] [-1.75914954e-02 5.77332212e-04 9.99845091e-01 -4.91465025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24439141799996 meters 0.02155001658606424 Centerline is valid? [True, True] Translation: X:224.40, Y:-8.61, Z:-4.92 [[ 9.99334844e-01 3.19910413e-02 1.75054832e-02 2.24400798e+02] [-3.19772902e-02 9.99488028e-01 -1.06494559e-03 -8.61114677e+00] [-1.75305896e-02 5.04459321e-04 9.99846200e-01 -4.91642977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30439141799997 meters 0.021290460427989464 Centerline is valid? [True, True] Translation: X:224.46, Y:-8.61, Z:-4.92 [[ 9.99277133e-01 3.41687102e-02 1.66646309e-02 2.24459931e+02] [-3.41565547e-02 9.99415981e-01 -1.01358203e-03 -8.61217965e+00] [-1.66895312e-02 4.43642974e-04 9.99860622e-01 -4.91893784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36439141799997 meters 0.021831930406008372 Centerline is valid? [True, True] Translation: X:224.52, Y:-8.61, Z:-4.92 [[ 9.99342782e-01 3.29959911e-02 1.50089511e-02 2.24519769e+02] [-3.29860067e-02 9.99455397e-01 -9.12369687e-04 -8.61467746e+00] [-1.50308818e-02 4.16684699e-04 9.99886943e-01 -4.92189358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42439141799997 meters 0.021997551960425556 Centerline is valid? [True, True] Translation: X:224.58, Y:-8.62, Z:-4.92 [[ 9.99448352e-01 2.99877438e-02 1.42732871e-02 2.24579463e+02] [-2.99784149e-02 9.99550170e-01 -8.67148802e-04 -8.61712761e+00] [-1.42928704e-02 4.38779920e-04 9.99897755e-01 -4.92293623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48439141799997 meters 0.02249420734625045 Centerline is valid? [True, True] Translation: X:224.64, Y:-8.62, Z:-4.92 [[ 9.99475771e-01 2.87857780e-02 1.48176142e-02 2.24638477e+02] [-2.87755970e-02 9.99585492e-01 -8.99876783e-04 -8.62021797e+00] [-1.48373758e-02 4.73019347e-04 9.99889808e-01 -4.92318933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54439141799998 meters 0.022358629296319855 Centerline is valid? [True, True] Translation: X:224.70, Y:-8.62, Z:-4.92 [[ 9.99453375e-01 2.90210299e-02 1.58344694e-02 2.24698096e+02] [-2.90094592e-02 9.99578676e-01 -9.59978508e-04 -8.62225235e+00] [-1.58556576e-02 5.00104365e-04 9.99874166e-01 -4.92283584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60439141799998 meters 0.02198989740120573 Centerline is valid? [True, True] Translation: X:224.76, Y:-8.62, Z:-4.92 [[ 9.99328443e-01 3.18941874e-02 1.80394876e-02 2.24757359e+02] [-3.18796524e-02 9.99491117e-01 -1.09280361e-03 -8.62182422e+00] [-1.80651617e-02 5.16977138e-04 9.99836678e-01 -4.92251911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66439141799998 meters 0.020602795007821473 Centerline is valid? [True, True] Translation: X:224.82, Y:-8.62, Z:-4.92 [[ 9.99251644e-01 3.35712407e-02 1.92125788e-02 2.24817008e+02] [-3.35550790e-02 9.99436193e-01 -1.16305077e-03 -8.62202126e+00] [-1.92407917e-02 5.17500800e-04 9.99814745e-01 -4.92291716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72439141799998 meters 0.01971947642331056 Centerline is valid? [True, True] Translation: X:224.88, Y:-8.62, Z:-4.92 [[ 9.99122752e-01 3.68611924e-02 1.98741006e-02 2.24875901e+02] [-3.68445645e-02 9.99320285e-01 -1.20230333e-03 -8.62268836e+00] [-1.99049102e-02 4.68996034e-04 9.99801768e-01 -4.92395089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78439141799998 meters 0.01888249141324307 Centerline is valid? [True, True] Translation: X:224.93, Y:-8.62, Z:-4.93 [[ 9.99027634e-01 3.89905407e-02 2.05796867e-02 2.24934798e+02] [-3.89731880e-02 9.99239483e-01 -1.24374585e-03 -8.62386799e+00] [-2.06125298e-02 4.40480479e-04 9.99787442e-01 -4.92519438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844391418 meters 0.01815203727505911 Centerline is valid? [True, True] Translation: X:224.99, Y:-8.63, Z:-4.93 [[ 9.98975218e-01 4.05200614e-02 2.01652571e-02 2.24993482e+02] [-4.05037436e-02 9.99178645e-01 -1.21714202e-03 -8.62546967e+00] [-2.01980129e-02 3.99126318e-04 9.99795920e-01 -4.92775897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904391418 meters 0.017341862386963156 Centerline is valid? [True, True] Translation: X:225.05, Y:-8.63, Z:-4.93 [[ 9.98991997e-01 4.10773467e-02 1.81008935e-02 2.25052394e+02] [-4.10643134e-02 9.99155909e-01 -1.09128252e-03 -8.62830797e+00] [-1.81304417e-02 3.46881742e-04 9.99835570e-01 -4.93156711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964391418 meters 0.01785056253726165 Centerline is valid? [True, True] Translation: X:225.11, Y:-8.63, Z:-4.93 [[ 9.99017597e-01 4.08195926e-02 1.72511528e-02 2.25109939e+02] [-4.08077377e-02 9.99166477e-01 -1.03879767e-03 -8.63371100e+00] [-1.72791769e-02 3.33796632e-04 9.99850648e-01 -4.93417071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02439141799996 meters 0.018190621316270406 Centerline is valid? [True, True] Translation: X:225.17, Y:-8.64, Z:-4.94 [[ 9.99023598e-01 4.06350841e-02 1.73389806e-02 2.25169065e+02] [-4.06231130e-02 9.99173997e-01 -1.04221093e-03 -8.63775497e+00] [-1.73670089e-02 3.36829941e-04 9.99849125e-01 -4.93592923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08439141799997 meters 0.018246533849584846 Centerline is valid? [True, True] Translation: X:225.23, Y:-8.64, Z:-4.94 [[ 9.99056765e-01 3.97240058e-02 1.75380592e-02 2.25227411e+02] [-3.97116429e-02 9.99210627e-01 -1.05275585e-03 -8.64318848e+00] [-1.75660348e-02 3.55297709e-04 9.99845642e-01 -4.93630180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14439141799997 meters 0.018772714925634145 Centerline is valid? [True, True] Translation: X:225.29, Y:-8.65, Z:-4.94 [[ 9.99075426e-01 3.87489759e-02 1.86228142e-02 2.25286309e+02] [-3.87348965e-02 9.99248899e-01 -1.11627612e-03 -8.64864382e+00] [-1.86520812e-02 3.93891260e-04 9.99825957e-01 -4.93659709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20439141799997 meters 0.01954504500369213 Centerline is valid? [True, True] Translation: X:225.34, Y:-8.66, Z:-4.94 [[ 9.99139038e-01 3.66456556e-02 1.94493705e-02 2.25344381e+02] [-3.66299320e-02 9.99328221e-01 -1.16418824e-03 -8.65629392e+00] [-1.94789673e-02 4.50756802e-04 9.99810165e-01 -4.93728893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26439141799997 meters 0.020634678336551637 Centerline is valid? [True, True] Translation: X:225.40, Y:-8.66, Z:-4.94 [[ 9.99192801e-01 3.45722916e-02 2.04573597e-02 2.25403732e+02] [-3.45544977e-02 9.99402067e-01 -1.22275587e-03 -8.66309054e+00] [-2.04874010e-02 5.14875074e-04 9.99789979e-01 -4.93817352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32439141799998 meters 0.023430242177131213 Centerline is valid? [True, True] Translation: X:225.46, Y:-8.67, Z:-4.94 [[ 9.99325479e-01 3.05162899e-02 2.04289558e-02 2.25462169e+02] [-3.04977173e-02 9.99534092e-01 -1.22013606e-03 -8.67272213e+00] [-2.04566718e-02 5.96276530e-04 9.99790563e-01 -4.94027004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38439141799998 meters 0.024531582814405213 Centerline is valid? [True, True] Translation: X:225.52, Y:-8.68, Z:-4.94 [[ 9.99439295e-01 2.74433432e-02 1.91822335e-02 2.25522420e+02] [-2.74263874e-02 9.99623168e-01 -1.14649491e-03 -8.67998094e+00] [-1.92064687e-02 6.19752692e-04 9.99815347e-01 -4.94269027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44439141799998 meters 0.029168216384965896 Centerline is valid? [True, True] Translation: X:225.58, Y:-8.69, Z:-4.94 [[ 9.99565706e-01 2.28982375e-02 1.85491037e-02 2.25582258e+02] [-2.28816023e-02 9.99737567e-01 -1.10858780e-03 -8.69244690e+00] [-1.85696205e-02 6.83673136e-04 9.99827336e-01 -4.94498108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50439141799998 meters 0.025757005597890528 Centerline is valid? [True, True] Translation: X:225.64, Y:-8.69, Z:-4.95 [[ 9.99617286e-01 2.09922749e-02 1.80168069e-02 2.25644490e+02] [-2.09762847e-02 9.99779394e-01 -1.07605480e-03 -8.69233540e+00] [-1.80354211e-02 6.97717307e-04 9.99837105e-01 -4.94590537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56439141799999 meters 0.030098537974902743 Centerline is valid? [True, True] Translation: X:225.71, Y:-8.70, Z:-4.95 [[ 9.99591511e-01 2.24753427e-02 1.76541555e-02 2.25705494e+02] [-2.24601334e-02 9.99747178e-01 -1.05934084e-03 -8.70208235e+00] [-1.76735012e-02 6.62393419e-04 9.99843592e-01 -4.94789787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624391418 meters 0.02374533550172988 Centerline is valid? [True, True] Translation: X:225.77, Y:-8.70, Z:-4.95 [[ 9.99529265e-01 2.48983940e-02 1.79253394e-02 2.25767086e+02] [-2.48830009e-02 9.99689785e-01 -1.08129286e-03 -8.69578411e+00] [-1.79467012e-02 6.34747619e-04 9.99838744e-01 -4.94775530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684391418 meters 0.022902374543627844 Centerline is valid? [True, True] Translation: X:225.83, Y:-8.70, Z:-4.95 [[ 9.99429590e-01 2.88233645e-02 1.75985516e-02 2.25827420e+02] [-2.88091211e-02 9.99584367e-01 -1.06239088e-03 -8.69635911e+00] [-1.76218587e-02 5.54786083e-04 9.99844569e-01 -4.94899605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74439141799996 meters 0.022294177809085308 Centerline is valid? [True, True] Translation: X:225.89, Y:-8.70, Z:-4.95 [[ 9.99376661e-01 3.08266805e-02 1.72048180e-02 2.25887536e+02] [-3.08133546e-02 9.99524616e-01 -1.03916136e-03 -8.69800487e+00] [-1.72286730e-02 5.08375454e-04 9.99851446e-01 -4.95062289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80439141799997 meters 0.02073323889948873 Centerline is valid? [True, True] Translation: X:225.95, Y:-8.70, Z:-4.95 [[ 9.99310276e-01 3.28254785e-02 1.73626329e-02 2.25947031e+02] [-3.28122127e-02 9.99460984e-01 -1.04843988e-03 -8.69818308e+00] [-1.73876897e-02 4.78010343e-04 9.99848708e-01 -4.95133030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86439141799997 meters 0.020012738074450295 Centerline is valid? [True, True] Translation: X:226.01, Y:-8.70, Z:-4.95 [[ 9.99223156e-01 3.52725065e-02 1.75765158e-02 2.26005688e+02] [-3.52592998e-02 9.99377635e-01 -1.06080928e-03 -8.69889984e+00] [-1.76029942e-02 4.40249559e-04 9.99844958e-01 -4.95202565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92439141799997 meters 0.018129006020263082 Centerline is valid? [True, True] Translation: X:226.06, Y:-8.70, Z:-4.95 [[ 9.99013348e-01 4.07382748e-02 1.76839764e-02 2.26064685e+02] [-4.07257873e-02 9.99169792e-01 -1.06585326e-03 -8.69636681e+00] [-1.77127161e-02 3.44607768e-04 9.99843058e-01 -4.95334953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98439141799997 meters 0.01671871418056721 Centerline is valid? [True, True] Translation: X:226.12, Y:-8.70, Z:-4.96 [[ 9.98815732e-01 4.54691959e-02 1.73114543e-02 2.26123568e+02] [-4.54579619e-02 9.98965709e-01 -1.04208674e-03 -8.69615162e+00] [-1.73409321e-02 2.53909202e-04 9.99849602e-01 -4.95523142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04439141799998 meters 0.014975384029576662 Centerline is valid? [True, True] Translation: X:226.18, Y:-8.69, Z:-4.96 [[ 9.98487609e-01 5.23099888e-02 1.69162771e-02 2.26182489e+02] [-5.23002648e-02 9.98630887e-01 -1.01701872e-03 -8.69336604e+00] [-1.69463170e-02 1.30754818e-04 9.99856392e-01 -4.95592395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10439141799998 meters 0.014546175819745828 Centerline is valid? [True, True] Translation: X:226.24, Y:-8.69, Z:-4.96 [[ 9.98176984e-01 5.77235259e-02 1.76267592e-02 2.26241465e+02] [-5.77138376e-02 9.98332606e-01 -1.05825639e-03 -8.69343608e+00] [-1.76584548e-02 3.90192546e-05 9.99844077e-01 -4.95670379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16439141799998 meters 0.014523273703979975 Centerline is valid? [True, True] Translation: X:226.30, Y:-8.70, Z:-4.96 [[ 9.98054106e-01 5.96873971e-02 1.80393187e-02 2.26299037e+02] [-5.96775938e-02 9.98217118e-01 -1.08175190e-03 -8.69679978e+00] [-1.80717237e-02 3.10379347e-06 9.99836693e-01 -4.95750446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22439141799998 meters 0.014609115342462061 Centerline is valid? [True, True] Translation: X:226.36, Y:-8.70, Z:-4.96 [[ 9.98098280e-01 5.89023078e-02 1.81753147e-02 2.26356873e+02] [-5.88922665e-02 9.98263752e-01 -1.08767488e-03 -8.70313480e+00] [-1.82078244e-02 1.52209527e-05 9.99834224e-01 -4.95864340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28439141799998 meters 0.014815771827323448 Centerline is valid? [True, True] Translation: X:226.42, Y:-8.71, Z:-4.96 [[ 9.98406309e-01 5.38769230e-02 1.67964359e-02 2.26415077e+02] [-5.38676706e-02 9.98547579e-01 -1.00312145e-03 -8.71378068e+00] [-1.68260856e-02 9.67379010e-05 9.99858427e-01 -4.96114632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344391418 meters 0.015494621239288037 Centerline is valid? [True, True] Translation: X:226.47, Y:-8.72, Z:-4.96 [[ 9.98666005e-01 4.90697809e-02 1.60737758e-02 2.26472740e+02] [-4.90607030e-02 9.98795338e-01 -9.58836225e-04 -8.72414498e+00] [-1.61014622e-02 1.68966404e-04 9.99870349e-01 -4.96319350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404391418 meters 0.016714805628739268 Centerline is valid? [True, True] Translation: X:226.53, Y:-8.74, Z:-4.96 [[ 9.98945492e-01 4.31619244e-02 1.56509289e-02 2.26530463e+02] [-4.31526163e-02 9.99068057e-01 -9.32110704e-04 -8.73541659e+00] [-1.56765748e-02 2.55749258e-04 9.99877082e-01 -4.96400617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46439141799996 meters 0.01784745843892294 Centerline is valid? [True, True] Translation: X:226.59, Y:-8.74, Z:-4.97 [[ 9.99027012e-01 4.13654551e-02 1.52946872e-02 2.26587827e+02] [-4.13563789e-02 9.99144045e-01 -9.09371335e-04 -8.74396661e+00] [-1.53192122e-02 2.75953647e-04 9.99882616e-01 -4.96581171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52439141799996 meters 0.017621587895203218 Centerline is valid? [True, True] Translation: X:226.65, Y:-8.75, Z:-4.97 [[ 9.98991311e-01 4.21870014e-02 1.53823826e-02 2.26645875e+02] [-4.21779444e-02 9.99109698e-01 -9.12880883e-04 -8.74941600e+00] [-1.54071993e-02 2.63162792e-04 9.99881267e-01 -4.96688557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58439141799997 meters 0.01717871537830217 Centerline is valid? [True, True] Translation: X:226.70, Y:-8.75, Z:-4.97 [[ 9.98935270e-01 4.31656511e-02 1.62804456e-02 2.26704939e+02] [-4.31556578e-02 9.99067895e-01 -9.64803611e-04 -8.75303430e+00] [-1.63069168e-02 2.61183018e-04 9.99866999e-01 -4.96738021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64439141799997 meters 0.01682224245056709 Centerline is valid? [True, True] Translation: X:226.76, Y:-8.76, Z:-4.97 [[ 9.98863956e-01 4.46843676e-02 1.65560812e-02 2.26764032e+02] [-4.46742654e-02 9.99001126e-01 -9.79699032e-04 -8.75763254e+00] [-1.65833210e-02 2.38955285e-04 9.99862459e-01 -4.96856642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70439141799997 meters 0.01714775964053471 Centerline is valid? [True, True] Translation: X:226.82, Y:-8.76, Z:-4.97 [[ 9.98918274e-01 4.36671355e-02 1.59831859e-02 2.26822645e+02] [-4.36576027e-02 9.99046105e-01 -9.45020497e-04 -8.76475770e+00] [-1.60092059e-02 2.46210665e-04 9.99871814e-01 -4.97085375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76439141799997 meters 0.017038392127580595 Centerline is valid? [True, True] Translation: X:226.88, Y:-8.77, Z:-4.97 [[ 9.99007832e-01 4.19302910e-02 1.50067575e-02 2.26880955e+02] [-4.19217074e-02 9.99120506e-01 -8.86241908e-04 -8.77060250e+00] [-1.50307195e-02 2.56253710e-04 9.99887000e-01 -4.97259908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82439141799998 meters 0.0184010615405251 Centerline is valid? [True, True] Translation: X:226.94, Y:-8.78, Z:-4.98 [[ 9.99165418e-01 3.86045792e-02 1.33474666e-02 2.26939692e+02] [-3.85975043e-02 9.99254529e-01 -7.87351939e-04 -8.77901468e+00] [-1.33679119e-02 2.71515929e-04 9.99910609e-01 -4.97592870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88439141799998 meters 0.018621623203123796 Centerline is valid? [True, True] Translation: X:227.00, Y:-8.78, Z:-4.98 [[ 9.99203329e-01 3.78305065e-02 1.27106492e-02 2.26997848e+02] [-3.78240376e-02 9.99284134e-01 -7.49030747e-04 -8.78318701e+00] [-1.27298863e-02 2.67665942e-04 9.99918936e-01 -4.97751812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94439141799998 meters 0.01897599510380781 Centerline is valid? [True, True] Translation: X:227.06, Y:-8.79, Z:-4.98 [[ 9.99244679e-01 3.68996827e-02 1.21854318e-02 2.27056817e+02] [-3.68936846e-02 9.99318939e-01 -7.16737377e-04 -8.78844152e+00] [-1.22035802e-02 2.66630533e-04 9.99925498e-01 -4.97863873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00439141799998 meters 0.018454072657282133 Centerline is valid? [True, True] Translation: X:227.12, Y:-8.79, Z:-4.98 [[ 9.99207596e-01 3.78625947e-02 1.22721092e-02 2.27115224e+02] [-3.78565957e-02 9.99282922e-01 -7.20849505e-04 -8.79026243e+00] [-1.22906024e-02 2.55698025e-04 9.99924435e-01 -4.97816550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06439141799999 meters 0.017800147323326163 Centerline is valid? [True, True] Translation: X:227.17, Y:-8.79, Z:-4.98 [[ 9.99138476e-01 3.94747306e-02 1.28082715e-02 2.27173744e+02] [-3.94683427e-02 9.99220539e-01 -7.51226148e-04 -8.79173375e+00] [-1.28279424e-02 2.45057701e-04 9.99917689e-01 -4.97784544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124391418 meters 0.01708775992173238 Centerline is valid? [True, True] Translation: X:227.23, Y:-8.79, Z:-4.98 [[ 9.98991609e-01 4.24948267e-02 1.44898361e-02 2.27231494e+02] [-4.24869871e-02 9.99096660e-01 -8.48588044e-04 -8.79290259e+00] [-1.45128074e-02 2.32102858e-04 9.99894657e-01 -4.97757780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184391418 meters 0.01724703331461399 Centerline is valid? [True, True] Translation: X:227.29, Y:-8.80, Z:-4.98 [[ 9.98993422e-01 4.21514368e-02 1.53427332e-02 2.27288874e+02] [-4.21426321e-02 9.99111202e-01 -8.96872809e-04 -8.79735083e+00] [-1.53669011e-02 2.49386878e-04 9.99881891e-01 -4.97862732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24439141799996 meters 0.017702393184020757 Centerline is valid? [True, True] Translation: X:227.35, Y:-8.80, Z:-4.98 [[ 9.99096308e-01 3.97364857e-02 1.50857324e-02 2.27347554e+02] [-3.97277215e-02 9.99210155e-01 -8.80312803e-04 -8.80145137e+00] [-1.51087976e-02 2.80195496e-04 9.99885816e-01 -4.98032241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30439141799997 meters 0.019042028395708184 Centerline is valid? [True, True] Translation: X:227.41, Y:-8.81, Z:-4.98 [[ 9.99233210e-01 3.65724361e-02 1.39802720e-02 2.27406119e+02] [-3.65646160e-02 9.99330959e-01 -8.14645445e-04 -8.80884457e+00] [-1.40007122e-02 3.02837505e-04 9.99901939e-01 -4.98349074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36439141799997 meters 0.01911935788810772 Centerline is valid? [True, True] Translation: X:227.47, Y:-8.81, Z:-4.99 [[ 9.99251758e-01 3.60598243e-02 1.39861440e-02 2.27465160e+02] [-3.60519568e-02 9.99349585e-01 -8.14327099e-04 -8.81226671e+00] [-1.40064117e-02 3.09489927e-04 9.99901858e-01 -4.98547353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42439141799997 meters 0.017950249055890603 Centerline is valid? [True, True] Translation: X:227.52, Y:-8.81, Z:-4.99 [[ 9.99137883e-01 3.85891163e-02 1.53092063e-02 2.27524093e+02] [-3.85800076e-02 9.99255118e-01 -8.89979925e-04 -8.81174531e+00] [-1.53321463e-02 2.98583363e-04 9.99882411e-01 -4.98544459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48439141799997 meters 0.017729208216599457 Centerline is valid? [True, True] Translation: X:227.58, Y:-8.81, Z:-4.99 [[ 9.99037431e-01 4.08753040e-02 1.59192026e-02 2.27581503e+02] [-4.08657643e-02 9.99164218e-01 -9.24229968e-04 -8.81403432e+00] [-1.59436758e-02 2.72789952e-04 9.99872854e-01 -4.98685565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54439141799998 meters 0.01704662067250086 Centerline is valid? [True, True] Translation: X:227.64, Y:-8.82, Z:-4.99 [[ 9.98960277e-01 4.27931397e-02 1.57198307e-02 2.27640533e+02] [-4.27841029e-02 9.99083926e-01 -9.10868860e-04 -8.81511338e+00] [-1.57444091e-02 2.37362952e-04 9.99876021e-01 -4.98881135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60439141799998 meters 0.01738932893173147 Centerline is valid? [True, True] Translation: X:227.70, Y:-8.82, Z:-4.99 [[ 9.99026999e-01 4.12333751e-02 1.56481537e-02 2.27698767e+02] [-4.12242484e-02 9.99149509e-01 -9.05492053e-04 -8.81959361e+00] [-1.56721815e-02 2.59527634e-04 9.99877150e-01 -4.99072329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66439141799998 meters 0.018179308730778172 Centerline is valid? [True, True] Translation: X:227.76, Y:-8.83, Z:-4.99 [[ 9.99110938e-01 3.89553017e-02 1.61188608e-02 2.27757606e+02] [-3.89453428e-02 9.99240908e-01 -9.31396572e-04 -8.82535065e+00] [-1.61429079e-02 3.02813943e-04 9.99869649e-01 -4.99184267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72439141799998 meters 0.0191001563011672 Centerline is valid? [True, True] Translation: X:227.82, Y:-8.83, Z:-4.99 [[ 9.99211485e-01 3.56843042e-02 1.74080142e-02 2.27816296e+02] [-3.56722185e-02 9.99363039e-01 -1.00438016e-03 -8.83264127e+00] [-1.74327666e-02 3.82605703e-04 9.99847965e-01 -4.99270435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78439141799998 meters 0.019642772022387133 Centerline is valid? [True, True] Translation: X:227.88, Y:-8.84, Z:-4.99 [[ 9.99219614e-01 3.56798381e-02 1.69443904e-02 2.27875096e+02] [-3.56684126e-02 9.99363203e-01 -9.76126313e-04 -8.83868355e+00] [-1.69684283e-02 3.70985051e-04 9.99855957e-01 -4.99474430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844391418 meters 0.018816496261326122 Centerline is valid? [True, True] Translation: X:227.93, Y:-8.84, Z:-5.00 [[ 9.99173023e-01 3.71886206e-02 1.64400754e-02 2.27933539e+02] [-3.71780770e-02 9.99308208e-01 -9.46601292e-04 -8.84022603e+00] [-1.64639050e-02 3.34608088e-04 9.99864405e-01 -4.99644471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904391418 meters 0.017304028277224406 Centerline is valid? [True, True] Translation: X:227.99, Y:-8.84, Z:-5.00 [[ 9.99034551e-01 4.04520328e-02 1.71347464e-02 2.27992209e+02] [-4.04410831e-02 9.99181439e-01 -9.85191575e-04 -8.84103383e+00] [-1.71605736e-02 2.91292717e-04 9.99852704e-01 -4.99675686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96439141799996 meters 0.016458141627110862 Centerline is valid? [True, True] Translation: X:228.05, Y:-8.84, Z:-5.00 [[ 9.98873281e-01 4.35274876e-02 1.89083916e-02 2.28051136e+02] [-4.35147368e-02 9.99052196e-01 -1.08545350e-03 -8.84303889e+00] [-1.89377172e-02 2.61436812e-04 9.99820631e-01 -4.99626612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02439141799996 meters 0.015475538862694512 Centerline is valid? [True, True] Translation: X:228.11, Y:-8.84, Z:-5.00 [[ 9.98734808e-01 4.70450000e-02 1.77637566e-02 2.28109753e+02] [-4.70343258e-02 9.98892754e-01 -1.01843789e-03 -8.84383968e+00] [-1.77920002e-02 1.81643054e-04 9.99841693e-01 -4.99857264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08439141799997 meters 0.01531834679175724 Centerline is valid? [True, True] Translation: X:228.17, Y:-8.85, Z:-5.00 [[ 9.98664200e-01 4.89654238e-02 1.64985794e-02 2.28168348e+02] [-4.89564980e-02 9.98800465e-01 -9.44695764e-04 -8.84728965e+00] [-1.65250462e-02 1.35721171e-04 9.99863443e-01 -5.00155607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14439141799997 meters 0.01479773607358531 Centerline is valid? [True, True] Translation: X:228.23, Y:-8.85, Z:-5.00 [[ 9.98539980e-01 5.14118420e-02 1.65749848e-02 2.28227321e+02] [-5.14031921e-02 9.98677532e-01 -9.47757841e-04 -8.85121860e+00] [-1.66017909e-02 9.43669668e-05 9.99862176e-01 -5.00224513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20439141799997 meters 0.01479957606592913 Centerline is valid? [True, True] Translation: X:228.29, Y:-8.86, Z:-5.00 [[ 9.98495984e-01 5.22215113e-02 1.66937962e-02 2.28285205e+02] [-5.22128714e-02 9.98635523e-01 -9.53280391e-04 -8.85572906e+00] [-1.67207996e-02 8.02156103e-05 9.99860194e-01 -5.00340847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26439141799997 meters 0.014868315650284802 Centerline is valid? [True, True] Translation: X:228.34, Y:-8.86, Z:-5.01 [[ 9.98509343e-01 5.22014319e-02 1.59405735e-02 2.28343398e+02] [-5.21935773e-02 9.98636573e-01 -9.08656232e-04 -8.86248247e+00] [-1.59662728e-02 7.53061835e-05 9.99872528e-01 -5.00565052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32439141799998 meters 0.014908113689403271 Centerline is valid? [True, True] Translation: X:228.40, Y:-8.87, Z:-5.01 [[ 9.98570759e-01 5.11207901e-02 1.55917810e-02 2.28402093e+02] [-5.11131626e-02 9.98692474e-01 -8.87563752e-04 -8.87134374e+00] [-1.56167673e-02 8.93499706e-05 9.99878047e-01 -5.00778546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38439141799998 meters 0.015320510505137431 Centerline is valid? [True, True] Translation: X:228.46, Y:-8.88, Z:-5.01 [[ 9.98670753e-01 4.90809390e-02 1.57412893e-02 2.28459383e+02] [-4.90729294e-02 9.98794797e-01 -8.94919700e-04 -8.88023586e+00] [-1.57662414e-02 1.21258951e-04 9.99875698e-01 -5.00907021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44439141799998 meters 0.015504532057078668 Centerline is valid? [True, True] Translation: X:228.52, Y:-8.89, Z:-5.01 [[ 9.98764361e-01 4.72071508e-02 1.55317992e-02 2.28517921e+02] [-4.71991516e-02 9.98885110e-01 -8.81392505e-04 -8.88741865e+00] [-1.55560910e-02 1.47215676e-04 9.99878986e-01 -5.00985586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50439141799998 meters 0.016867432379876084 Centerline is valid? [True, True] Translation: X:228.57, Y:-8.90, Z:-5.01 [[ 9.98969425e-01 4.25431958e-02 1.58165594e-02 2.28574822e+02] [-4.25343344e-02 9.99094604e-01 -8.96388349e-04 -8.89877668e+00] [-1.58403744e-02 2.22717726e-04 9.99874509e-01 -5.01097477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56439141799999 meters 0.01732096996242713 Centerline is valid? [True, True] Translation: X:228.63, Y:-8.91, Z:-5.01 [[ 9.99119419e-01 3.85270039e-02 1.66149488e-02 2.28632843e+02] [-3.85166979e-02 9.99257515e-01 -9.39951533e-04 -8.90609953e+00] [-1.66388260e-02 2.99170865e-04 9.99861520e-01 -5.01104734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624391418 meters 0.019156284411327152 Centerline is valid? [True, True] Translation: X:228.69, Y:-8.92, Z:-5.01 [[ 9.99310954e-01 3.26242992e-02 1.76995004e-02 2.28691507e+02] [-3.26117158e-02 9.99467597e-01 -9.99187260e-04 -8.91763818e+00] [-1.77226749e-02 4.21287696e-04 9.99842852e-01 -5.01191904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684391418 meters 0.021770307522581907 Centerline is valid? [True, True] Translation: X:228.75, Y:-8.93, Z:-5.01 [[ 9.99486865e-01 2.69332508e-02 1.73380161e-02 2.28751728e+02] [-2.69203433e-02 9.99637104e-01 -9.77469307e-04 -8.92877754e+00] [-1.73580507e-02 5.10222387e-04 9.99849208e-01 -5.01342171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74439141799996 meters 0.02491828531537692 Centerline is valid? [True, True] Translation: X:228.81, Y:-8.94, Z:-5.02 [[ 9.99651378e-01 2.07523721e-02 1.63236244e-02 2.28811797e+02] [-2.07401095e-02 9.99784477e-01 -9.20166398e-04 -8.93980345e+00] [-1.63392020e-02 5.81291850e-04 9.99866337e-01 -5.01566884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80439141799997 meters 0.026021203894813123 Centerline is valid? [True, True] Translation: X:228.87, Y:-8.95, Z:-5.02 [[ 9.99693489e-01 1.88190390e-02 1.60863982e-02 2.28873924e+02] [-1.88069002e-02 9.99822725e-01 -9.05558111e-04 -8.94598121e+00] [-1.61005883e-02 6.02745261e-04 9.99870195e-01 -5.01748167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86439141799997 meters 0.028736836371169146 Centerline is valid? [True, True] Translation: X:228.93, Y:-8.96, Z:-5.02 [[ 9.99770395e-01 1.48797746e-02 1.54191060e-02 2.28933313e+02] [-1.48680721e-02 9.99889083e-01 -8.73319783e-04 -8.95521355e+00] [-1.54303906e-02 6.43866885e-04 9.99880737e-01 -5.01948479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92439141799997 meters 0.032359086395574554 Centerline is valid? [True, True] Translation: X:228.99, Y:-8.97, Z:-5.02 [[ 9.99838440e-01 1.01886380e-02 1.48082681e-02 2.28994294e+02] [-1.01773055e-02 9.99947857e-01 -8.40443739e-04 -8.96553576e+00] [-1.48160589e-02 6.89599689e-04 9.99889998e-01 -5.02138127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98439141799997 meters 0.03323593715681896 Centerline is valid? [True, True] Translation: X:229.06, Y:-8.97, Z:-5.02 [[ 9.99852686e-01 9.24240452e-03 1.44632035e-02 2.29056488e+02] [-9.23151288e-03 9.99957053e-01 -8.19640961e-04 -8.97014155e+00] [-1.44701578e-02 6.86002967e-04 9.99895066e-01 -5.02307762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04439141799998 meters 0.03031945461620237 Centerline is valid? [True, True] Translation: X:229.12, Y:-8.97, Z:-5.02 [[ 9.99811797e-01 1.32422534e-02 1.41778967e-02 2.29118335e+02] [-1.32321118e-02 9.99912125e-01 -8.08884652e-04 -8.96806119e+00] [-1.41873623e-02 6.21128903e-04 9.99899161e-01 -5.02448940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10439141799998 meters 0.02462192247903231 Centerline is valid? [True, True] Translation: X:229.18, Y:-8.96, Z:-5.02 [[ 9.99653732e-01 2.15340374e-02 1.51228434e-02 2.29179932e+02] [-2.15234249e-02 9.99767971e-01 -8.64180792e-04 -8.95971437e+00] [-1.51379437e-02 5.38386171e-04 9.99885270e-01 -5.02400478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16439141799998 meters 0.023748345726813457 Centerline is valid? [True, True] Translation: X:229.24, Y:-8.96, Z:-5.03 [[ 9.99473453e-01 2.82701648e-02 1.59252674e-02 2.29239999e+02] [-2.82592506e-02 9.99600213e-01 -9.09997391e-04 -8.95892502e+00] [-1.59446265e-02 4.59482111e-04 9.99872771e-01 -5.02511761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22439141799998 meters 0.01754219715898853 Centerline is valid? [True, True] Translation: X:229.30, Y:-8.95, Z:-5.02 [[ 9.99116639e-01 3.84442642e-02 1.69699929e-02 2.29300953e+02] [-3.84333365e-02 9.99260696e-01 -9.69727562e-04 -8.94655570e+00] [-1.69947274e-02 3.16657493e-04 9.99855529e-01 -5.02466433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28439141799998 meters 0.016289555775718004 Centerline is valid? [True, True] Translation: X:229.36, Y:-8.94, Z:-5.03 [[ 9.98841899e-01 4.50408364e-02 1.69169638e-02 2.29359914e+02] [-4.50309196e-02 9.98985126e-01 -9.66863274e-04 -8.94479246e+00] [-1.69433435e-02 2.03957112e-04 9.99856430e-01 -5.02643144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344391418 meters 0.014613228410816876 Centerline is valid? [True, True] Translation: X:229.42, Y:-8.94, Z:-5.03 [[ 9.98401005e-01 5.40118344e-02 1.66779875e-02 2.29419565e+02] [-5.40034614e-02 9.98540294e-01 -9.52329002e-04 -8.93774636e+00] [-1.67050796e-02 5.01371809e-05 9.99860459e-01 -5.02745095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404391418 meters 0.014557556988660108 Centerline is valid? [True, True] Translation: X:229.48, Y:-8.94, Z:-5.03 [[ 9.98050923e-01 6.02802123e-02 1.61446641e-02 2.29477803e+02] [-6.02732047e-02 9.98181493e-01 -9.20718034e-04 -8.93582016e+00] [-1.61708060e-02 -5.41671594e-05 9.99869243e-01 -5.02983739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46439141799996 meters 0.014813810985858902 Centerline is valid? [True, True] Translation: X:229.54, Y:-8.94, Z:-5.03 [[ 9.97943500e-01 6.19734342e-02 1.63726702e-02 2.29536153e+02] [-6.19664845e-02 9.98077796e-01 -9.31926066e-04 -8.93809585e+00] [-1.63989533e-02 -8.45472554e-05 9.99865525e-01 -5.03133263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52439141799996 meters 0.014527034984325471 Centerline is valid? [True, True] Translation: X:229.59, Y:-8.95, Z:-5.03 [[ 9.98065770e-01 5.97878177e-02 1.70333886e-02 2.29594142e+02] [-5.97800018e-02 9.98211107e-01 -9.68107857e-04 -8.94540361e+00] [-1.70607988e-02 -5.20206911e-05 9.99854453e-01 -5.03301605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58439141799997 meters 0.014530267161754214 Centerline is valid? [True, True] Translation: X:229.65, Y:-8.96, Z:-5.03 [[ 9.98491610e-01 5.19097361e-02 1.78852787e-02 2.29651841e+02] [-5.18998797e-02 9.98651777e-01 -1.01512319e-03 -8.95786541e+00] [-1.79138602e-02 8.53481794e-05 9.99839530e-01 -5.03329243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64439141799997 meters 0.016913476967175406 Centerline is valid? [True, True] Translation: X:229.71, Y:-8.97, Z:-5.03 [[ 9.98962580e-01 4.11632617e-02 1.94769104e-02 2.29710191e+02] [-4.11495740e-02 9.99152389e-01 -1.10318704e-03 -8.97447073e+00] [-1.95058123e-02 3.00576004e-04 9.99809698e-01 -5.03318955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70439141799997 meters 0.018612852211077835 Centerline is valid? [True, True] Translation: X:229.77, Y:-8.99, Z:-5.03 [[ 9.99220377e-01 3.39242107e-02 2.01937016e-02 2.29770392e+02] [-3.39080466e-02 9.99424304e-01 -1.14241572e-03 -8.98620975e+00] [-2.02208317e-02 4.56796094e-04 9.99795434e-01 -5.03422293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76439141799997 meters 0.024187106603844058 Centerline is valid? [True, True] Translation: X:229.83, Y:-9.00, Z:-5.04 [[ 9.99510581e-01 2.46238048e-02 1.92942227e-02 2.29829231e+02] [-2.46073170e-02 9.99696598e-01 -1.09153099e-03 -9.00444093e+00] [-1.93152464e-02 6.16217719e-04 9.99813253e-01 -5.03679042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82439141799998 meters 0.029874044861853345 Centerline is valid? [True, True] Translation: X:229.89, Y:-9.02, Z:-5.04 [[ 9.99613987e-01 2.03831266e-02 1.88786964e-02 2.29888809e+02] [-2.03665873e-02 9.99792009e-01 -1.06795254e-03 -9.01930468e+00] [-1.88965381e-02 6.83045680e-04 9.99821211e-01 -5.03928128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88439141799998 meters 0.032073508611801776 Centerline is valid? [True, True] Translation: X:229.95, Y:-9.03, Z:-5.04 [[ 9.99658308e-01 1.88691890e-02 1.80892747e-02 2.29949831e+02] [-1.88537657e-02 9.99821729e-01 -1.02279275e-03 -9.02885922e+00] [-1.81053492e-02 6.81392318e-04 9.99835853e-01 -5.04179788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94439141799998 meters 0.024925353799975958 Centerline is valid? [True, True] Translation: X:230.01, Y:-9.02, Z:-5.04 [[ 9.99611921e-01 2.17228613e-02 1.74391963e-02 2.30012734e+02] [-2.17088974e-02 9.99763844e-01 -9.89645427e-04 -9.02254511e+00] [-1.74565758e-02 6.10675643e-04 9.99847436e-01 -5.04309685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00439141799998 meters 0.022224401274502887 Centerline is valid? [True, True] Translation: X:230.07, Y:-9.02, Z:-5.04 [[ 9.99496632e-01 2.67146481e-02 1.71116886e-02 2.30074428e+02] [-2.67018334e-02 9.99642965e-01 -9.76963000e-04 -9.02061440e+00] [-1.71316783e-02 5.19557772e-04 9.99853107e-01 -5.04458374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06439141799999 meters 0.02119865176914396 Centerline is valid? [True, True] Translation: X:230.13, Y:-9.02, Z:-5.05 [[ 9.99364940e-01 3.13729223e-02 1.68954387e-02 2.30134997e+02] [-3.13610898e-02 9.99507654e-01 -9.64895673e-04 -9.02144668e+00] [-1.69173919e-02 4.34423537e-04 9.99856796e-01 -5.04646600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124391418 meters 0.01812603138739847 Centerline is valid? [True, True] Translation: X:230.20, Y:-9.02, Z:-5.05 [[ 9.99129763e-01 3.86695956e-02 1.56326477e-02 2.30195868e+02] [-3.86603199e-02 9.99252009e-01 -8.95232828e-04 -9.01657325e+00] [-1.56555729e-02 2.90090602e-04 9.99877402e-01 -5.04859699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184391418 meters 0.01685414081089755 Centerline is valid? [True, True] Translation: X:230.25, Y:-9.02, Z:-5.05 [[ 9.98958584e-01 4.32458410e-02 1.45445908e-02 2.30254697e+02] [-4.32382901e-02 9.99064440e-01 -8.33357670e-04 -9.01534849e+00] [-1.45670227e-02 2.03606562e-04 9.99893875e-01 -5.05108149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24439141799996 meters 0.015327383671066067 Centerline is valid? [True, True] Translation: X:230.31, Y:-9.01, Z:-5.05 [[ 9.98710177e-01 4.88272464e-02 1.39241664e-02 2.30314197e+02] [-4.88208789e-02 9.98807232e-01 -7.97045783e-04 -9.01276058e+00] [-1.39464757e-02 1.16227693e-04 9.99902736e-01 -5.05243565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30439141799997 meters 0.014724287544125282 Centerline is valid? [True, True] Translation: X:230.37, Y:-9.01, Z:-5.05 [[ 9.98544390e-01 5.21291148e-02 1.38439835e-02 2.30372963e+02] [-5.21231464e-02 9.98640351e-01 -7.91823758e-04 -9.01187141e+00] [-1.38664376e-02 6.90791929e-05 9.99903854e-01 -5.05260398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36439141799997 meters 0.014600343824302727 Centerline is valid? [True, True] Translation: X:230.43, Y:-9.01, Z:-5.05 [[ 9.98518299e-01 5.26234415e-02 1.38556889e-02 2.30431372e+02] [-5.26175246e-02 9.98614425e-01 -7.91487417e-04 -9.01263162e+00] [-1.38781416e-02 6.12626153e-05 9.99903692e-01 -5.05246402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42439141799997 meters 0.0146974468748763 Centerline is valid? [True, True] Translation: X:230.49, Y:-9.02, Z:-5.05 [[ 9.98597345e-01 5.11633976e-02 1.36253200e-02 2.30489757e+02] [-5.11575547e-02 9.98690293e-01 -7.77246899e-04 -9.01661139e+00] [-1.36472415e-02 7.91186345e-05 9.99906869e-01 -5.05391313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48439141799997 meters 0.01582071788380357 Centerline is valid? [True, True] Translation: X:230.55, Y:-9.02, Z:-5.05 [[ 9.98847004e-01 4.57087772e-02 1.46755058e-02 2.30547407e+02] [-4.57014275e-02 9.98954794e-01 -8.35966396e-04 -9.02479865e+00] [-1.46983779e-02 1.64310967e-04 9.99891960e-01 -5.05428587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54439141799998 meters 0.018502864299042954 Centerline is valid? [True, True] Translation: X:230.61, Y:-9.04, Z:-5.05 [[ 9.99202963e-01 3.67459363e-02 1.55940353e-02 2.30606810e+02] [-3.67365784e-02 9.99324591e-01 -8.86221429e-04 -9.03570750e+00] [-1.56160680e-02 3.12643579e-04 9.99878013e-01 -5.05435426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60439141799998 meters 0.022624483548971886 Centerline is valid? [True, True] Translation: X:230.67, Y:-9.05, Z:-5.06 [[ 9.99530133e-01 2.61888579e-02 1.59266089e-02 2.30666713e+02] [-2.61777696e-02 9.99656894e-01 -9.04322375e-04 -9.04815848e+00] [-1.59448275e-02 4.86974365e-04 9.99872755e-01 -5.05529647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66439141799998 meters 0.025840677360751286 Centerline is valid? [True, True] Translation: X:230.73, Y:-9.06, Z:-5.06 [[ 9.99685720e-01 1.93372617e-02 1.59540384e-02 2.30727395e+02] [-1.93252727e-02 9.99812840e-01 -9.05312020e-04 -9.05758182e+00] [-1.59685587e-02 5.96711356e-04 9.99872316e-01 -5.05684757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72439141799998 meters 0.029890459401964862 Centerline is valid? [True, True] Translation: X:230.79, Y:-9.07, Z:-5.06 [[ 9.99804030e-01 1.25704331e-02 1.52933168e-02 2.30787392e+02] [-1.25586123e-02 9.99920760e-01 -8.68733349e-04 -9.06758095e+00] [-1.53030253e-02 6.76500267e-04 9.99882673e-01 -5.05894860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78439141799998 meters 0.03657543355327403 Centerline is valid? [True, True] Translation: X:230.85, Y:-9.08, Z:-5.06 [[ 9.99896422e-01 3.12738061e-03 1.40486738e-02 2.30846331e+02] [-3.11648331e-03 9.99994826e-01 -7.97507012e-04 -9.08027861e+00] [-1.40510952e-02 7.53641951e-04 9.99900994e-01 -5.06241717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844391418 meters 0.03651655483837111 Centerline is valid? [True, True] Translation: X:230.91, Y:-9.08, Z:-5.07 [[ 9.99906848e-01 -2.44987634e-03 1.34273065e-02 2.30907102e+02] [ 2.46035351e-03 9.99996682e-01 -7.63824978e-04 -9.08241741e+00] [-1.34253907e-02 7.96789747e-04 9.99909558e-01 -5.06511111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904391418 meters 0.03908919575977904 Centerline is valid? [True, True] Translation: X:230.97, Y:-9.09, Z:-5.06 [[ 9.99856661e-01 -8.59557080e-03 1.45867445e-02 2.30967288e+02] [ 8.60858801e-03 9.99962601e-01 -8.29844567e-04 -9.08836561e+00] [-1.45790660e-02 9.55296892e-04 9.99893263e-01 -5.06384856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96439141799996 meters 0.03994123297456983 Centerline is valid? [True, True] Translation: X:231.03, Y:-9.09, Z:-5.07 [[ 9.99851387e-01 -9.55440768e-03 1.43498235e-02 2.31029057e+02] [ 9.56709565e-03 9.99953902e-01 -8.15802644e-04 -9.09083134e+00] [-1.43413675e-02 9.52967539e-04 9.99896703e-01 -5.06537398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02439141799996 meters 0.040767067181069615 Centerline is valid? [True, True] Translation: X:231.09, Y:-9.09, Z:-5.07 [[ 9.99873970e-01 -6.55902855e-03 1.44576176e-02 2.31089267e+02] [ 6.57160947e-03 9.99978068e-01 -8.22857598e-04 -9.09070099e+00] [-1.44519033e-02 9.17763710e-04 9.99895145e-01 -5.06741843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08439141799997 meters 0.03684176338092483 Centerline is valid? [True, True] Translation: X:231.15, Y:-9.08, Z:-5.07 [[ 9.99900411e-01 -3.24408121e-04 1.41089727e-02 2.31149989e+02] [ 3.35807108e-04 9.99999619e-01 -8.05563163e-04 -9.08249140e+00] [-1.41087060e-02 8.10220831e-04 9.99900139e-01 -5.06836666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14439141799997 meters 0.034721255712985205 Centerline is valid? [True, True] Translation: X:231.21, Y:-9.08, Z:-5.07 [[ 9.99888354e-01 6.86998395e-03 1.32696434e-02 2.31210532e+02] [-6.86053169e-03 9.99976179e-01 -7.57711464e-04 -9.07576795e+00] [-1.32745328e-02 6.66590059e-04 9.99911667e-01 -5.07011400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20439141799997 meters 0.033283490114751235 Centerline is valid? [True, True] Translation: X:231.27, Y:-9.07, Z:-5.07 [[ 9.99852200e-01 1.14021208e-02 1.28674053e-02 2.31270868e+02] [-1.13936053e-02 9.99934821e-01 -7.34897798e-04 -9.07208264e+00] [-1.28749460e-02 5.88183042e-04 9.99916941e-01 -5.07183296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26439141799997 meters 0.029721864094084546 Centerline is valid? [True, True] Translation: X:231.33, Y:-9.06, Z:-5.07 [[ 9.99736785e-01 1.86150695e-02 1.34104291e-02 2.31332495e+02] [-1.86064680e-02 9.99826591e-01 -7.65899561e-04 -9.06198064e+00] [-1.34223609e-02 5.16177246e-04 9.99909783e-01 -5.07219473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32439141799998 meters 0.021746046400087378 Centerline is valid? [True, True] Translation: X:231.39, Y:-9.05, Z:-5.07 [[ 9.99549051e-01 2.64081068e-02 1.42936065e-02 2.31394510e+02] [-2.63991334e-02 9.99651149e-01 -8.16136034e-04 -9.04553180e+00] [-1.43101728e-02 4.38429173e-04 9.99897508e-01 -5.07081731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38439141799998 meters 0.018905046624254417 Centerline is valid? [True, True] Translation: X:231.46, Y:-9.04, Z:-5.07 [[ 9.99296829e-01 3.40469585e-02 1.57051555e-02 2.31455467e+02] [-3.40370529e-02 9.99420169e-01 -8.97667964e-04 -9.03645639e+00] [-1.57266120e-02 3.62479541e-04 9.99876263e-01 -5.07168840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44439141799998 meters 0.01745444551351833 Centerline is valid? [True, True] Translation: X:231.51, Y:-9.03, Z:-5.07 [[ 9.99132257e-01 3.85082256e-02 1.58697976e-02 2.31514428e+02] [-3.84986766e-02 9.99258240e-01 -9.06889564e-04 -9.03176691e+00] [-1.58929487e-02 2.95136413e-04 9.99873656e-01 -5.07299092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50439141799998 meters 0.01595574834921076 Centerline is valid? [True, True] Translation: X:231.57, Y:-9.03, Z:-5.07 [[ 9.98896412e-01 4.40642959e-02 1.62571993e-02 2.31573442e+02] [-4.40550323e-02 9.99028675e-01 -9.27675885e-04 -9.02520085e+00] [-1.62822857e-02 2.10440671e-04 9.99867413e-01 -5.07387899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56439141799999 meters 0.015201844247404365 Centerline is valid? [True, True] Translation: X:231.63, Y:-9.02, Z:-5.08 [[ 9.98747706e-01 4.72986824e-02 1.63050703e-02 2.31631825e+02] [-4.72898149e-02 9.98880779e-01 -9.29191184e-04 -9.02229824e+00] [-1.63307709e-02 1.56963805e-04 9.99866632e-01 -5.07558078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624391418 meters 0.015249948950670871 Centerline is valid? [True, True] Translation: X:231.69, Y:-9.02, Z:-5.08 [[ 9.98725982e-01 4.78968602e-02 1.58840897e-02 2.31689372e+02] [-4.78885455e-02 9.98852277e-01 -9.03622174e-04 -9.02272087e+00] [-1.59091398e-02 1.41804993e-04 9.99873432e-01 -5.07776201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684391418 meters 0.015505616622599356 Centerline is valid? [True, True] Translation: X:231.75, Y:-9.03, Z:-5.08 [[ 9.98835893e-01 4.56974959e-02 1.54465815e-02 2.31747759e+02] [-4.56893937e-02 9.98955309e-01 -8.77201193e-04 -9.02551956e+00] [-1.54705305e-02 1.70435091e-04 9.99880310e-01 -5.07975227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74439141799996 meters 0.016862748646282982 Centerline is valid? [True, True] Translation: X:231.81, Y:-9.03, Z:-5.08 [[ 9.99086210e-01 3.99361692e-02 1.52265609e-02 2.31806043e+02] [-3.99276455e-02 9.99202201e-01 -8.63497908e-04 -9.03255198e+00] [-1.52488980e-02 2.54748125e-04 9.99883696e-01 -5.08166711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80439141799997 meters 0.01923736065441777 Centerline is valid? [True, True] Translation: X:231.86, Y:-9.04, Z:-5.08 [[ 9.99352422e-01 3.25022228e-02 1.54383580e-02 2.31864771e+02] [-3.24925948e-02 9.99471594e-01 -8.74128848e-04 -9.04028724e+00] [-1.54586114e-02 3.71930471e-04 9.99880439e-01 -5.08268208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86439141799997 meters 0.02244976818940703 Centerline is valid? [True, True] Translation: X:231.92, Y:-9.05, Z:-5.08 [[ 9.99533138e-01 2.59513416e-02 1.61255635e-02 2.31924910e+02] [-2.59400078e-02 9.99663086e-01 -9.11645817e-04 -9.04906643e+00] [-1.61437890e-02 4.92922960e-04 9.99869559e-01 -5.08318309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92439141799997 meters 0.024321040460585107 Centerline is valid? [True, True] Translation: X:231.99, Y:-9.06, Z:-5.08 [[ 9.99615276e-01 2.18617371e-02 1.70694278e-02 2.31985401e+02] [-2.18484420e-02 9.99760829e-01 -9.65006429e-04 -9.05509751e+00] [-1.70864420e-02 5.91694765e-04 9.99853841e-01 -5.08403609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98439141799997 meters 0.026643346670866142 Centerline is valid? [True, True] Translation: X:232.05, Y:-9.06, Z:-5.09 [[ 9.99730117e-01 1.55338739e-02 1.72740528e-02 2.32045861e+02] [-1.55193163e-02 9.99879091e-01 -9.76477990e-04 -9.06183509e+00] [-1.72871327e-02 7.08132965e-04 9.99850316e-01 -5.08524062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04439141799998 meters 0.029212662082497575 Centerline is valid? [True, True] Translation: X:232.11, Y:-9.07, Z:-5.09 [[ 9.99784171e-01 1.09571361e-02 1.76508643e-02 2.32106401e+02] [-1.09412202e-02 9.99939645e-01 -9.98026628e-04 -9.06899877e+00] [-1.76607344e-02 8.04689232e-04 9.99843713e-01 -5.08690714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10439141799998 meters 0.03130135668488134 Centerline is valid? [True, True] Translation: X:232.17, Y:-9.07, Z:-5.09 [[ 9.99835132e-01 3.85336946e-03 1.77442959e-02 2.32166756e+02] [-3.83614987e-03 9.99992138e-01 -1.00436468e-03 -9.07432737e+00] [-1.77480266e-02 9.36129316e-04 9.99842053e-01 -5.08799138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16439141799998 meters 0.03636379120758013 Centerline is valid? [True, True] Translation: X:232.23, Y:-9.08, Z:-5.09 [[ 9.99865702e-01 2.22011307e-04 1.63868592e-02 2.32226531e+02] [-2.06846320e-04 9.99999549e-01 -9.27124972e-04 -9.08246396e+00] [-1.63870577e-02 9.23610899e-04 9.99865297e-01 -5.09032948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22439141799998 meters 0.03759411451492773 Centerline is valid? [True, True] Translation: X:232.29, Y:-9.09, Z:-5.09 [[ 9.99867743e-01 2.38930506e-04 1.62615843e-02 2.32289010e+02] [-2.23994340e-04 9.99999551e-01 -9.20309077e-04 -9.08542870e+00] [-1.62617969e-02 9.16544857e-04 9.99867348e-01 -5.09191123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28439141799998 meters 0.0367300368849848 Centerline is valid? [True, True] Translation: X:232.35, Y:-9.08, Z:-5.09 [[ 9.99869072e-01 2.95940305e-03 1.59085334e-02 2.32350974e+02] [-2.94536529e-03 9.99995252e-01 -9.05761677e-04 -9.08430051e+00] [-1.59111384e-02 8.58786645e-04 9.99873041e-01 -5.09347762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344391418 meters 0.031372498087634385 Centerline is valid? [True, True] Translation: X:232.41, Y:-9.08, Z:-5.09 [[ 9.99854669e-01 7.98292629e-03 1.50636822e-02 2.32412813e+02] [-7.97088436e-03 9.99967863e-01 -8.59272084e-04 -9.07544479e+00] [-1.50700576e-02 7.39076336e-04 9.99886167e-01 -5.09482018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404391418 meters 0.026980452026364447 Centerline is valid? [True, True] Translation: X:232.47, Y:-9.07, Z:-5.10 [[ 9.99756448e-01 1.67825558e-02 1.43314321e-02 2.32474209e+02] [-1.67725523e-02 9.99858996e-01 -8.17931823e-04 -9.06591754e+00] [-1.43431383e-02 5.77357920e-04 9.99896965e-01 -5.09641110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46439141799996 meters 0.023260172367732333 Centerline is valid? [True, True] Translation: X:232.54, Y:-9.06, Z:-5.10 [[ 9.99607698e-01 2.37009004e-02 1.49237215e-02 2.32535161e+02] [-2.36908229e-02 9.99718970e-01 -8.51720501e-04 -9.05904994e+00] [-1.49397140e-02 4.97831127e-04 9.99888272e-01 -5.09626857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52439141799996 meters 0.01915195744366374 Centerline is valid? [True, True] Translation: X:232.60, Y:-9.05, Z:-5.10 [[ 9.99298617e-01 3.39841712e-02 1.57273647e-02 2.32596349e+02] [-3.39742506e-02 9.99422305e-01 -8.97613722e-04 -9.04930674e+00] [-1.57487838e-02 3.62658721e-04 9.99875914e-01 -5.09631291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58439141799997 meters 0.016161291319330046 Centerline is valid? [True, True] Translation: X:232.66, Y:-9.04, Z:-5.10 [[ 9.98927771e-01 4.34345908e-02 1.60232416e-02 2.32656541e+02] [-4.34255059e-02 9.99056249e-01 -9.14642361e-04 -9.04083941e+00] [-1.60478468e-02 2.17844281e-04 9.99871201e-01 -5.09713053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64439141799997 meters 0.015533729347122811 Centerline is valid? [True, True] Translation: X:232.72, Y:-9.04, Z:-5.10 [[ 9.98796427e-01 4.63155214e-02 1.61421642e-02 2.32715482e+02] [-4.63066842e-02 9.98926846e-01 -9.21005745e-04 -9.04071155e+00] [-1.61674980e-02 1.72407150e-04 9.99869283e-01 -5.09825045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70439141799997 meters 0.014637755699546793 Centerline is valid? [True, True] Translation: X:232.77, Y:-9.03, Z:-5.10 [[ 9.98361587e-01 5.47280221e-02 1.67028520e-02 2.32774983e+02] [-5.47197604e-02 9.98501298e-01 -9.51591638e-04 -9.03388749e+00] [-1.67298981e-02 3.60564767e-05 9.99860045e-01 -5.09933172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76439141799997 meters 0.014708297179487751 Centerline is valid? [True, True] Translation: X:232.83, Y:-9.03, Z:-5.10 [[ 9.98044998e-01 6.00947744e-02 1.71697511e-02 2.32833072e+02] [-6.00868588e-02 9.98192674e-01 -9.76992815e-04 -9.03184020e+00] [-1.71974319e-02 -5.65936172e-05 9.99852112e-01 -5.10057559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82439141799998 meters 0.014744498335628183 Centerline is valid? [True, True] Translation: X:232.89, Y:-9.03, Z:-5.10 [[ 9.98002766e-01 6.08306414e-02 1.70326720e-02 2.32891666e+02] [-6.08229978e-02 9.98148099e-01 -9.66909897e-04 -9.03426985e+00] [-1.70599470e-02 -7.09994228e-05 9.99854466e-01 -5.10263565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88439141799998 meters 0.014518504228148045 Centerline is valid? [True, True] Translation: X:232.95, Y:-9.04, Z:-5.11 [[ 9.98159528e-01 5.82142415e-02 1.69899536e-02 2.32950100e+02] [-5.82062805e-02 9.98304113e-01 -9.63113418e-04 -9.04036204e+00] [-1.70172074e-02 -2.75811685e-05 9.99855196e-01 -5.10541190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94439141799998 meters 0.014621800942264958 Centerline is valid? [True, True] Translation: X:233.01, Y:-9.05, Z:-5.11 [[ 9.98489368e-01 5.18787434e-02 1.80991255e-02 2.33006904e+02] [-5.18686952e-02 9.98653388e-01 -1.02448314e-03 -9.05138852e+00] [-1.81279019e-02 8.41575029e-05 9.99835673e-01 -5.10697806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00439141799998 meters 0.01574950534696305 Centerline is valid? [True, True] Translation: X:233.06, Y:-9.06, Z:-5.11 [[ 9.98887768e-01 4.36304571e-02 1.78776294e-02 2.33064746e+02] [-4.36193647e-02 9.99047712e-01 -1.01011907e-03 -9.06479023e+00] [-1.79046767e-02 2.29184745e-04 9.99839672e-01 -5.10902381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06439141799999 meters 0.017912149972331353 Centerline is valid? [True, True] Translation: X:233.12, Y:-9.08, Z:-5.11 [[ 9.99117380e-01 3.81308627e-02 1.76209898e-02 2.33122308e+02] [-3.81192544e-02 9.99272702e-01 -9.94303746e-04 -9.07596126e+00] [-1.76460878e-02 3.21727159e-04 9.99844244e-01 -5.11111413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124391418 meters 0.0197333785840171 Centerline is valid? [True, True] Translation: X:233.18, Y:-9.09, Z:-5.11 [[ 9.99358169e-01 3.14188987e-02 1.72076420e-02 2.33181448e+02] [-3.14068674e-02 9.99506213e-01 -9.69044331e-04 -9.08787665e+00] [-1.72295914e-02 4.27984237e-04 9.99851468e-01 -5.11241612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184391418 meters 0.021126940341924808 Centerline is valid? [True, True] Translation: X:233.24, Y:-9.10, Z:-5.11 [[ 9.99433742e-01 2.89021569e-02 1.72296727e-02 2.33240135e+02] [-2.88897314e-02 9.99582134e-01 -9.69681751e-04 -9.09786690e+00] [-1.72504989e-02 4.71372045e-04 9.99851088e-01 -5.11358247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24439141799996 meters 0.020480739381082254 Centerline is valid? [True, True] Translation: X:233.30, Y:-9.10, Z:-5.12 [[ 9.99392016e-01 3.02719310e-02 1.72976684e-02 2.33299712e+02] [-3.02596320e-02 9.99541600e-01 -9.72372062e-04 -9.10283933e+00] [-1.73191747e-02 4.48359796e-04 9.99849911e-01 -5.11501155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30439141799997 meters 0.01826464445923439 Centerline is valid? [True, True] Translation: X:233.36, Y:-9.11, Z:-5.12 [[ 9.99213441e-01 3.61308298e-02 1.63420542e-02 2.33359221e+02] [-3.61206451e-02 9.99347015e-01 -9.18051173e-04 -9.10513908e+00] [-1.63645530e-02 3.27043532e-04 9.99866038e-01 -5.11740970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36439141799997 meters 0.015413335696605952 Centerline is valid? [True, True] Translation: X:233.42, Y:-9.10, Z:-5.12 [[ 9.98822337e-01 4.57237005e-02 1.62260049e-02 2.33418942e+02] [-4.57149350e-02 9.98954111e-01 -9.10904833e-04 -9.10312104e+00] [-1.62506843e-02 1.68061332e-04 9.99867935e-01 -5.11891393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42439141799997 meters 0.014567124605208303 Centerline is valid? [True, True] Translation: X:233.48, Y:-9.10, Z:-5.12 [[ 9.98264991e-01 5.65274037e-02 1.64821038e-02 2.33477631e+02] [-5.65198379e-02 9.98401048e-01 -9.24854069e-04 -9.10006119e+00] [-1.65080293e-02 -8.31639596e-06 9.99863733e-01 -5.11910731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48439141799997 meters 0.01539837617946453 Centerline is valid? [True, True] Translation: X:233.54, Y:-9.10, Z:-5.12 [[ 9.97793776e-01 6.45432361e-02 1.55483284e-02 2.33536207e+02] [-6.45374940e-02 9.97914903e-01 -8.71302744e-04 -9.10158062e+00] [-1.55721453e-02 -1.34069693e-04 9.99878738e-01 -5.12087204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54439141799998 meters 0.01621018076490703 Centerline is valid? [True, True] Translation: X:233.59, Y:-9.11, Z:-5.12 [[ 9.97644498e-01 6.71289635e-02 1.41123637e-02 2.33594666e+02] [-6.71245058e-02 9.97744294e-01 -7.89840491e-04 -9.10609350e+00] [-1.41335515e-02 -1.59305417e-04 9.99900104e-01 -5.12401591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60439141799998 meters 0.016234444615870824 Centerline is valid? [True, True] Translation: X:233.65, Y:-9.11, Z:-5.13 [[ 9.97711177e-01 6.63709333e-02 1.29347278e-02 2.33651510e+02] [-6.63671295e-02 9.97795009e-01 -7.23561909e-04 -9.11460652e+00] [-1.29542303e-02 -1.36534949e-04 9.99916081e-01 -5.12654699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66439141799998 meters 0.015024765057998197 Centerline is valid? [True, True] Translation: X:233.71, Y:-9.13, Z:-5.13 [[ 9.98058051e-01 6.07661475e-02 1.36967703e-02 2.33710166e+02] [-6.07613920e-02 9.98152028e-01 -7.63454302e-04 -9.12905686e+00] [-1.37178512e-02 -7.02631167e-05 9.99905903e-01 -5.12652607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72439141799998 meters 0.014688028473237622 Centerline is valid? [True, True] Translation: X:233.77, Y:-9.14, Z:-5.13 [[ 9.98408028e-01 5.45820731e-02 1.42199502e-02 2.33767612e+02] [-5.45763241e-02 9.98509287e-01 -7.92325020e-04 -9.14090902e+00] [-1.42419991e-02 1.49910502e-05 9.99898577e-01 -5.12725054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78439141799998 meters 0.015882361483165172 Centerline is valid? [True, True] Translation: X:233.83, Y:-9.16, Z:-5.13 [[ 9.98940074e-01 4.32314890e-02 1.58039998e-02 2.33825166e+02] [-4.32230127e-02 9.99065063e-01 -8.77679152e-04 -9.15961930e+00] [-1.58271674e-02 1.93652394e-04 9.99874724e-01 -5.12700596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844391418 meters 0.019067742955809326 Centerline is valid? [True, True] Translation: X:233.88, Y:-9.18, Z:-5.13 [[ 9.99310918e-01 3.30214826e-02 1.69490457e-02 2.33882759e+02] [-3.30102922e-02 9.99454570e-01 -9.39658994e-04 -9.17828732e+00] [-1.69708301e-02 3.79518541e-04 9.99855913e-01 -5.12749389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904391418 meters 0.021086589945944575 Centerline is valid? [True, True] Translation: X:233.94, Y:-9.19, Z:-5.13 [[ 9.99470758e-01 2.73803971e-02 1.75646544e-02 2.33942611e+02] [-2.73675323e-02 9.99624966e-01 -9.72423907e-04 -9.18994631e+00] [-1.75846924e-02 4.91208014e-04 9.99845257e-01 -5.12860958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96439141799996 meters 0.02499044121257534 Centerline is valid? [True, True] Translation: X:234.00, Y:-9.20, Z:-5.13 [[ 9.99641101e-01 2.03160534e-02 1.74621725e-02 2.34002507e+02] [-2.03022630e-02 9.99793421e-01 -9.66659673e-04 -9.20483322e+00] [-1.74782039e-02 6.11791121e-04 9.99847057e-01 -5.13110942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02439141799996 meters 0.02788892029874189 Centerline is valid? [True, True] Translation: X:234.06, Y:-9.22, Z:-5.13 [[ 9.99710316e-01 1.65694383e-02 1.74567162e-02 2.34062986e+02] [-1.65550830e-02 9.99862488e-01 -9.66539090e-04 -9.21587221e+00] [-1.74703307e-02 6.77261714e-04 9.99847153e-01 -5.13358501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08439141799997 meters 0.027146718435442845 Centerline is valid? [True, True] Translation: X:234.12, Y:-9.22, Z:-5.14 [[ 9.99746246e-01 1.50348705e-02 1.67748706e-02 2.34124661e+02] [-1.50214024e-02 9.99886741e-01 -9.28592642e-04 -9.21969570e+00] [-1.67869320e-02 6.76374927e-04 9.99858861e-01 -5.13533688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14439141799997 meters 0.028090724282948103 Centerline is valid? [True, True] Translation: X:234.19, Y:-9.23, Z:-5.14 [[ 9.99775015e-01 1.45287413e-02 1.54543087e-02 2.34186443e+02] [-1.45171957e-02 9.99894251e-01 -8.59005831e-04 -9.22585973e+00] [-1.54651547e-02 6.34459344e-04 9.99880206e-01 -5.13860247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20439141799997 meters 0.02790795038027429 Centerline is valid? [True, True] Translation: X:234.25, Y:-9.23, Z:-5.14 [[ 9.99802922e-01 1.36901379e-02 1.43769603e-02 2.34248763e+02] [-1.36800082e-02 9.99906102e-01 -8.02694211e-04 -9.22849509e+00] [-1.43865993e-02 6.05859083e-04 9.99896324e-01 -5.14020376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26439141799997 meters 0.030803705506629926 Centerline is valid? [True, True] Translation: X:234.31, Y:-9.23, Z:-5.14 [[ 9.99820021e-01 1.28459673e-02 1.39609294e-02 2.34309403e+02] [-1.28362774e-02 9.99917305e-01 -7.83458894e-04 -9.23496717e+00] [-1.39698392e-02 6.04111524e-04 9.99902235e-01 -5.14222503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32439141799998 meters 0.03280585949987591 Centerline is valid? [True, True] Translation: X:234.37, Y:-9.24, Z:-5.14 [[ 9.99851770e-01 1.07467405e-02 1.34516076e-02 2.34370819e+02] [-1.07374968e-02 9.99942063e-01 -7.59213713e-04 -9.23941613e+00] [-1.34589873e-02 6.14664581e-04 9.99909235e-01 -5.14339079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38439141799998 meters 0.03340579398230392 Centerline is valid? [True, True] Translation: X:234.43, Y:-9.24, Z:-5.14 [[ 9.99867322e-01 7.13517981e-03 1.46433265e-02 2.34432393e+02] [-7.12379574e-03 9.99974281e-01 -8.29438393e-04 -9.24095953e+00] [-1.46488681e-02 7.25012279e-04 9.99892437e-01 -5.14227780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44439141799998 meters 0.0350685682901846 Centerline is valid? [True, True] Translation: X:234.49, Y:-9.24, Z:-5.14 [[ 9.99867043e-01 5.89798577e-03 1.52022766e-02 2.34494539e+02] [-5.88558781e-03 9.99982310e-01 -8.60144473e-04 -9.24476384e+00] [-1.52070808e-02 7.70555778e-04 9.99884069e-01 -5.14265191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50439141799998 meters 0.03579744601264182 Centerline is valid? [True, True] Translation: X:234.56, Y:-9.25, Z:-5.14 [[ 9.99871211e-01 5.24212133e-03 1.51684222e-02 2.34557196e+02] [-5.22964082e-03 9.99985954e-01 -8.62343966e-04 -9.24686794e+00] [-1.51727296e-02 7.82907506e-04 9.99884581e-01 -5.14382282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56439141799999 meters 0.03245878187289259 Centerline is valid? [True, True] Translation: X:234.62, Y:-9.24, Z:-5.14 [[ 9.99866153e-01 5.10103788e-03 1.55452523e-02 2.34619840e+02] [-5.08784608e-03 9.99986663e-01 -8.88036666e-04 -9.24282800e+00] [-1.55495749e-02 8.08825955e-04 9.99878771e-01 -5.14426029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624391418 meters 0.03611152595062336 Centerline is valid? [True, True] Translation: X:234.68, Y:-9.25, Z:-5.15 [[ 9.99861422e-01 6.06550732e-03 1.55031345e-02 2.34680808e+02] [-6.05243101e-03 9.99981288e-01 -8.90242052e-04 -9.24512195e+00] [-1.55082442e-02 7.96287031e-04 9.99879423e-01 -5.14614816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68439141799996 meters 0.03186559412188626 Centerline is valid? [True, True] Translation: X:234.74, Y:-9.24, Z:-5.15 [[ 9.99846232e-01 7.28990351e-03 1.59489889e-02 2.34743187e+02] [-7.27615236e-03 9.99973105e-01 -9.20054029e-04 -9.23744188e+00] [-1.59552671e-02 8.03865281e-04 9.99872383e-01 -5.14695320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74439141799996 meters 0.0308014745187692 Centerline is valid? [True, True] Translation: X:234.81, Y:-9.24, Z:-5.15 [[ 9.99838369e-01 7.96326379e-03 1.61190014e-02 2.34805748e+02] [-7.94923018e-03 9.99967968e-01 -9.34510376e-04 -9.23601325e+00] [-1.61259268e-02 8.06225679e-04 9.99869644e-01 -5.14884639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80439141799997 meters 0.034393373097146386 Centerline is valid? [True, True] Translation: X:234.87, Y:-9.24, Z:-5.15 [[ 9.99853082e-01 7.73800829e-03 1.52949949e-02 2.34866570e+02] [-7.72528087e-03 9.99969763e-01 -8.91038214e-04 -9.23925382e+00] [-1.53014273e-02 7.72749173e-04 9.99882628e-01 -5.15304810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86439141799997 meters 0.034242230444394076 Centerline is valid? [True, True] Translation: X:234.93, Y:-9.24, Z:-5.15 [[ 9.99861798e-01 7.30096134e-03 1.49359124e-02 2.34929198e+02] [-7.28872019e-03 9.99973055e-01 -8.73850245e-04 -9.24014838e+00] [-1.49418899e-02 7.64865791e-04 9.99888071e-01 -5.15468161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92439141799997 meters 0.03440476211233156 Centerline is valid? [True, True] Translation: X:234.99, Y:-9.24, Z:-5.15 [[ 9.99856566e-01 5.59328320e-03 1.59863148e-02 2.34991216e+02] [-5.57896204e-03 9.99983995e-01 -9.40295206e-04 -9.23847847e+00] [-1.59913183e-02 8.50973292e-04 9.99871769e-01 -5.15488860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98439141799997 meters 0.03498694324092715 Centerline is valid? [True, True] Translation: X:235.05, Y:-9.24, Z:-5.16 [[ 9.99861092e-01 4.44136699e-03 1.60645696e-02 2.35053802e+02] [-4.42669049e-03 9.99989752e-01 -9.49038003e-04 -9.23762244e+00] [-1.60686200e-02 8.77793297e-04 9.99870506e-01 -5.15622627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04439141799998 meters 0.034498365686640095 Centerline is valid? [True, True] Translation: X:235.12, Y:-9.24, Z:-5.16 [[ 9.99845442e-01 4.28058073e-03 1.70519676e-02 2.35116357e+02] [-4.26393166e-03 9.99990397e-01 -1.01260958e-03 -9.23607625e+00] [-1.70561384e-02 9.39744649e-04 9.99854092e-01 -5.15671053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10439141799998 meters 0.035298627497190725 Centerline is valid? [True, True] Translation: X:235.18, Y:-9.24, Z:-5.16 [[ 9.99832683e-01 5.94129079e-03 1.73004976e-02 2.35178389e+02] [-5.92431243e-03 9.99981918e-01 -1.03246558e-03 -9.23533402e+00] [-1.73063190e-02 9.29799275e-04 9.99849802e-01 -5.15695964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16439141799998 meters 0.03517657406221408 Centerline is valid? [True, True] Translation: X:235.24, Y:-9.24, Z:-5.16 [[ 9.99836457e-01 7.06837819e-03 1.66462344e-02 2.35240471e+02] [-7.05274095e-03 9.99974631e-01 -9.97904044e-04 -9.23555278e+00] [-1.66528657e-02 8.80339265e-04 9.99860944e-01 -5.15846721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22439141799998 meters 0.03500706430178206 Centerline is valid? [True, True] Translation: X:235.30, Y:-9.23, Z:-5.16 [[ 9.99863582e-01 6.98073428e-03 1.49695593e-02 2.35302973e+02] [-6.96802590e-03 9.99975317e-01 -9.00937699e-04 -9.23470002e+00] [-1.49754790e-02 7.96506517e-04 9.99887544e-01 -5.16156418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28439141799998 meters 0.035000058830654136 Centerline is valid? [True, True] Translation: X:235.36, Y:-9.24, Z:-5.16 [[ 9.99888458e-01 6.21996629e-03 1.35788027e-02 2.35364667e+02] [-6.20939377e-03 9.99980385e-01 -8.20626385e-04 -9.23680581e+00] [-1.35836406e-02 7.36218718e-04 9.99907467e-01 -5.16400702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344391418 meters 0.038251328911611635 Centerline is valid? [True, True] Translation: X:235.43, Y:-9.24, Z:-5.17 [[ 9.99911213e-01 5.28999010e-03 1.22303678e-02 2.35425182e+02] [-5.28128511e-03 9.99985777e-01 -7.43940504e-04 -9.24214160e+00] [-1.22341293e-02 6.79282393e-04 9.99924930e-01 -5.16692613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404391418 meters 0.033066442109494255 Centerline is valid? [True, True] Translation: X:235.49, Y:-9.24, Z:-5.17 [[ 9.99885646e-01 8.59142401e-03 1.24451501e-02 2.35486930e+02] [-8.58265927e-03 9.99962881e-01 -7.57507631e-04 -9.23513539e+00] [-1.24511962e-02 6.50608525e-04 9.99922269e-01 -5.16749367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46439141799996 meters 0.029649401520717596 Centerline is valid? [True, True] Translation: X:235.55, Y:-9.23, Z:-5.17 [[ 9.99784512e-01 1.60314723e-02 1.31879011e-02 2.35548291e+02] [-1.60222631e-02 9.99871312e-01 -8.03672548e-04 -9.22839148e+00] [-1.31990880e-02 5.92199345e-04 9.99912713e-01 -5.16791234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52439141799996 meters 0.02427198088639472 Centerline is valid? [True, True] Translation: X:235.61, Y:-9.22, Z:-5.17 [[ 9.99561734e-01 2.61128886e-02 1.39448149e-02 2.35609462e+02] [-2.61035710e-02 9.99658883e-01 -8.49802154e-04 -9.21812392e+00] [-1.39622488e-02 4.85420250e-04 9.99902405e-01 -5.16724155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58439141799997 meters 0.020536920831934573 Centerline is valid? [True, True] Translation: X:235.67, Y:-9.21, Z:-5.17 [[ 9.99245135e-01 3.57128623e-02 1.52889685e-02 2.35669561e+02] [-3.57027819e-02 9.99362018e-01 -9.31853610e-04 -9.21038700e+00] [-1.53124935e-02 3.85291480e-04 9.99882683e-01 -5.16780577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64439141799997 meters 0.018218847768335045 Centerline is valid? [True, True] Translation: X:235.73, Y:-9.21, Z:-5.17 [[ 9.99059856e-01 4.06692758e-02 1.50138120e-02 2.35729149e+02] [-4.06601155e-02 9.99172617e-01 -9.14993022e-04 -9.20638483e+00] [-1.50386019e-02 3.03669467e-04 9.99886868e-01 -5.16871203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70439141799997 meters 0.016870841001717655 Centerline is valid? [True, True] Translation: X:235.79, Y:-9.20, Z:-5.17 [[ 9.98842739e-01 4.57310198e-02 1.48948511e-02 2.35786890e+02] [-4.57225758e-02 9.98953764e-01 -9.07125143e-04 -9.20354469e+00] [-1.49207514e-02 2.25044403e-04 9.99888654e-01 -5.17114408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76439141799997 meters 0.016141220843686157 Centerline is valid? [True, True] Translation: X:235.85, Y:-9.20, Z:-5.17 [[ 9.98779210e-01 4.72381877e-02 1.44445100e-02 2.35845506e+02] [-4.72304258e-02 9.98883635e-01 -8.78202542e-04 -9.20332777e+00] [-1.44698694e-02 1.94910082e-04 9.99895287e-01 -5.17245222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82439141799998 meters 0.01624943572687102 Centerline is valid? [True, True] Translation: X:235.90, Y:-9.21, Z:-5.17 [[ 9.98778610e-01 4.68015253e-02 1.58400253e-02 2.35904529e+02] [-4.67921596e-02 9.98904184e-01 -9.61575511e-04 -9.20545233e+00] [-1.58676707e-02 2.19212062e-04 9.99874077e-01 -5.17297910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88439141799998 meters 0.017490426471755652 Centerline is valid? [True, True] Translation: X:235.96, Y:-9.21, Z:-5.17 [[ 9.98899527e-01 4.35370619e-02 1.74430522e-02 2.35962237e+02] [-4.35252335e-02 9.99051768e-01 -1.05735823e-03 -9.21304331e+00] [-1.74725465e-02 2.96981712e-04 9.99847299e-01 -5.17357511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94439141799998 meters 0.019060916175583996 Centerline is valid? [True, True] Translation: X:236.02, Y:-9.22, Z:-5.18 [[ 9.99102121e-01 3.86931073e-02 1.72567313e-02 2.36021215e+02] [-3.86808426e-02 9.99251071e-01 -1.04405524e-03 -9.22177645e+00] [-1.72842050e-02 3.75612899e-04 9.99850546e-01 -5.17523448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00439141799998 meters 0.020089042587177166 Centerline is valid? [True, True] Translation: X:236.08, Y:-9.23, Z:-5.18 [[ 9.99265355e-01 3.46000650e-02 1.64798580e-02 2.36080370e+02] [-3.45883335e-02 9.99401148e-01 -9.96446895e-04 -9.22939359e+00] [-1.65044661e-02 4.25704036e-04 9.99863701e-01 -5.17767061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06439141799999 meters 0.02580908859186859 Centerline is valid? [True, True] Translation: X:236.14, Y:-9.25, Z:-5.18 [[ 9.99589218e-01 2.44357117e-02 1.49763556e-02 2.36138302e+02] [-2.44248957e-02 9.99701258e-01 -9.04714351e-04 -9.24823634e+00] [-1.49939889e-02 5.38546786e-04 9.99887439e-01 -5.18248256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124391418 meters 0.026151238814527918 Centerline is valid? [True, True] Translation: X:236.20, Y:-9.26, Z:-5.18 [[ 9.99698925e-01 1.89909069e-02 1.55371793e-02 2.36198225e+02] [-1.89786060e-02 9.99819449e-01 -9.38782411e-04 -9.25505313e+00] [-1.55522024e-02 6.43625761e-04 9.99878850e-01 -5.18272448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18439141799996 meters 0.031140391316956083 Centerline is valid? [True, True] Translation: X:236.26, Y:-9.27, Z:-5.18 [[ 9.99776031e-01 1.24347792e-02 1.71249827e-02 2.36256854e+02] [-1.24188828e-02 9.99922348e-01 -1.03429407e-03 -9.26970387e+00] [-1.71365141e-02 8.21389267e-04 9.99852822e-01 -5.18297278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24439141799996 meters 0.031987410837236635 Centerline is valid? [True, True] Translation: X:236.32, Y:-9.28, Z:-5.18 [[ 9.99787844e-01 9.42582094e-03 1.83144895e-02 2.36317650e+02] [-9.40714535e-03 9.99955141e-01 -1.10560143e-03 -9.27738637e+00] [-1.83240891e-02 9.33079807e-04 9.99831664e-01 -5.18303389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30439141799997 meters 0.03326538868374601 Centerline is valid? [True, True] Translation: X:236.38, Y:-9.29, Z:-5.18 [[ 9.99784662e-01 6.74788181e-03 1.96238779e-02 2.36378790e+02] [-6.72590837e-03 9.99976678e-01 -1.18551558e-03 -9.28633949e+00] [-1.96314199e-02 1.05327189e-03 9.99806730e-01 -5.18344321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36439141799997 meters 0.03650033314003248 Centerline is valid? [True, True] Translation: X:236.44, Y:-9.30, Z:-5.19 [[ 9.99804807e-01 5.34176158e-03 1.90214061e-02 2.36438806e+02] [-5.32085451e-03 9.99985183e-01 -1.14957403e-03 -9.29780372e+00] [-1.90272650e-02 1.04813951e-03 9.99818416e-01 -5.18521494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42439141799997 meters 0.03370116084000078 Centerline is valid? [True, True] Translation: X:236.50, Y:-9.30, Z:-5.19 [[ 9.99808355e-01 5.60041071e-03 1.87586993e-02 2.36501796e+02] [-5.58008511e-03 9.99983786e-01 -1.13569642e-03 -9.29912408e+00] [-1.87647555e-02 1.03080363e-03 9.99823395e-01 -5.18677256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48439141799997 meters 0.03576775331235979 Centerline is valid? [True, True] Translation: X:236.56, Y:-9.31, Z:-5.19 [[ 9.99838558e-01 6.70383018e-03 1.66708540e-02 2.36562799e+02] [-6.68784574e-03 9.99977122e-01 -1.01439116e-03 -9.30912590e+00] [-1.66772729e-02 9.02735293e-04 9.99860517e-01 -5.19030865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54439141799998 meters 0.031215449130527685 Centerline is valid? [True, True] Translation: X:236.62, Y:-9.31, Z:-5.19 [[ 9.99809908e-01 1.12583301e-02 1.59184982e-02 2.36624032e+02] [-1.12442455e-02 9.99936307e-01 -9.74019749e-04 -9.30867278e+00] [-1.59284502e-02 7.94843093e-04 9.99872818e-01 -5.19200299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60439141799998 meters 0.028290556317721798 Centerline is valid? [True, True] Translation: X:236.68, Y:-9.31, Z:-5.19 [[ 9.99632982e-01 2.08171544e-02 1.73362751e-02 2.36683796e+02] [-2.08018703e-02 9.99783054e-01 -1.06150950e-03 -9.30791038e+00] [-1.73546117e-02 7.00492963e-04 9.99849152e-01 -5.19115984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66439141799998 meters 0.02292279362896212 Centerline is valid? [True, True] Translation: X:236.74, Y:-9.30, Z:-5.19 [[ 9.99383051e-01 2.93212366e-02 1.93334626e-02 2.36744480e+02] [-2.93038266e-02 9.99569850e-01 -1.18325511e-03 -9.30256906e+00] [-1.93598408e-02 6.15980667e-04 9.99812391e-01 -5.19020566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72439141799998 meters 0.018066649382477082 Centerline is valid? [True, True] Translation: X:236.80, Y:-9.30, Z:-5.19 [[ 9.98851252e-01 4.30171208e-02 2.11116852e-02 2.36804282e+02] [-4.29994133e-02 9.99074262e-01 -1.29219486e-03 -9.29733318e+00] [-2.11477278e-02 3.82920373e-04 9.99776288e-01 -5.19000491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78439141799998 meters 0.0148859948734226 Centerline is valid? [True, True] Translation: X:236.86, Y:-9.29, Z:-5.19 [[ 9.98228053e-01 5.59503225e-02 2.02562658e-02 2.36864030e+02] [-5.59366903e-02 9.98433548e-01 -1.23940260e-03 -9.29180572e+00] [-2.02938803e-02 1.04137981e-04 9.99794053e-01 -5.19174813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844391418 meters 0.014974192585364251 Centerline is valid? [True, True] Translation: X:236.92, Y:-9.29, Z:-5.19 [[ 9.97656388e-01 6.57969117e-02 1.87749459e-02 2.36920841e+02] [-6.57869469e-02 9.97833031e-01 -1.14855435e-03 -9.28949483e+00] [-1.88098325e-02 -8.92837871e-05 9.99823075e-01 -5.19400610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904391418 meters 0.015826604261974853 Centerline is valid? [True, True] Translation: X:236.98, Y:-9.29, Z:-5.20 [[ 9.97356992e-01 7.02111445e-02 1.86929410e-02 2.36979004e+02] [-7.02021101e-02 9.97532137e-01 -1.13988190e-03 -9.29130256e+00] [-1.87268418e-02 -1.75414721e-04 9.99824622e-01 -5.19587662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96439141799996 meters 0.01674792158094439 Centerline is valid? [True, True] Translation: X:237.04, Y:-9.30, Z:-5.20 [[ 9.97200560e-01 7.24049167e-02 1.86700582e-02 2.37036215e+02] [-7.23963187e-02 9.97375296e-01 -1.13688309e-03 -9.29635869e+00] [-1.87033708e-02 -2.17943028e-04 9.99825053e-01 -5.19736781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02439141799996 meters 0.015175392078835972 Centerline is valid? [True, True] Translation: X:237.09, Y:-9.31, Z:-5.20 [[ 9.97481753e-01 6.81867640e-02 1.95119899e-02 2.37094336e+02] [-6.81766228e-02 9.97672563e-01 -1.18523754e-03 -9.31013706e+00] [-1.95473945e-02 -1.48008764e-04 9.99808920e-01 -5.19789424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08439141799997 meters 0.014759299390104199 Centerline is valid? [True, True] Translation: X:237.15, Y:-9.32, Z:-5.20 [[ 9.97854719e-01 6.24648841e-02 1.95984015e-02 2.37151704e+02] [-6.24535792e-02 9.98047162e-01 -1.18895470e-03 -9.32229397e+00] [-1.96343969e-02 -3.75862573e-05 9.99807226e-01 -5.19978088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14439141799997 meters 0.01536505830327129 Centerline is valid? [True, True] Translation: X:237.21, Y:-9.34, Z:-5.20 [[ 9.98391227e-01 5.31434240e-02 1.97669960e-02 2.37209159e+02] [-5.31301358e-02 9.98586879e-01 -1.19717031e-03 -9.34035738e+00] [-1.98026846e-02 1.45021152e-04 9.99803897e-01 -5.20113223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20439141799997 meters 0.016634439333428442 Centerline is valid? [True, True] Translation: X:237.27, Y:-9.35, Z:-5.20 [[ 9.98649852e-01 4.79655631e-02 1.99443836e-02 2.37266891e+02] [-4.79510331e-02 9.98848959e-01 -1.20638823e-03 -9.35282324e+00] [-1.99792919e-02 2.48405627e-04 9.99800363e-01 -5.20241470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26439141799997 meters 0.019075752891404167 Centerline is valid? [True, True] Translation: X:237.32, Y:-9.37, Z:-5.20 [[ 9.98897457e-01 4.21040746e-02 2.07633836e-02 2.37324408e+02] [-4.20871047e-02 9.99113159e-01 -1.25379737e-03 -9.36967645e+00] [-2.07977597e-02 3.78544306e-04 9.99783632e-01 -5.20403856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32439141799998 meters 0.021396010262540805 Centerline is valid? [True, True] Translation: X:237.38, Y:-9.38, Z:-5.21 [[ 9.99078720e-01 3.76660737e-02 2.05664454e-02 2.37381970e+02] [-3.76485082e-02 9.99290273e-01 -1.24074871e-03 -9.38478735e+00] [-2.05985829e-02 4.65309643e-04 9.99787718e-01 -5.20573450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38439141799998 meters 0.022848160507824972 Centerline is valid? [True, True] Translation: X:237.44, Y:-9.40, Z:-5.21 [[ 9.99160977e-01 3.53427252e-02 2.06937974e-02 2.37441498e+02] [-3.53244683e-02 9.99375118e-01 -1.24722918e-03 -9.39507148e+00] [-2.07249467e-02 5.15185330e-04 9.99785082e-01 -5.20731897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44439141799998 meters 0.022106036288201982 Centerline is valid? [True, True] Translation: X:237.50, Y:-9.40, Z:-5.21 [[ 9.99265726e-01 3.25816467e-02 2.01604809e-02 2.37501358e+02] [-3.25637652e-02 9.99468922e-01 -1.21469363e-03 -9.40348159e+00] [-2.01893508e-02 5.57300551e-04 9.99796019e-01 -5.20912673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50439141799998 meters 0.023463635926565786 Centerline is valid? [True, True] Translation: X:237.56, Y:-9.42, Z:-5.21 [[ 9.99356043e-01 3.00726125e-02 1.95738851e-02 2.37561970e+02] [-3.00552777e-02 9.99547542e-01 -1.17925478e-03 -9.41559304e+00] [-1.96004920e-02 5.90196840e-04 9.99807718e-01 -5.21173237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56439141799999 meters 0.02528942831993533 Centerline is valid? [True, True] Translation: X:237.62, Y:-9.43, Z:-5.21 [[ 9.99456862e-01 2.70904177e-02 1.87640530e-02 2.37623121e+02] [-2.70739626e-02 9.99632794e-01 -1.13047249e-03 -9.42762409e+00] [-1.87877877e-02 6.21841219e-04 9.99823301e-01 -5.21359182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624391418 meters 0.027149989573373102 Centerline is valid? [True, True] Translation: X:237.68, Y:-9.44, Z:-5.22 [[ 9.99512257e-01 2.52197173e-02 1.84177749e-02 2.37683387e+02] [-2.52034484e-02 9.99681721e-01 -1.11494363e-03 -9.43729167e+00] [-1.84400315e-02 6.50208385e-04 9.99829757e-01 -5.21518731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68439141799996 meters 0.026614363131327565 Centerline is valid? [True, True] Translation: X:237.75, Y:-9.45, Z:-5.22 [[ 9.99552062e-01 2.40525508e-02 1.78086932e-02 2.37745563e+02] [-2.40371613e-02 9.99710485e-01 -1.07773384e-03 -9.44509258e+00] [-1.78294596e-02 6.49180646e-04 9.99840832e-01 -5.21679100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74439141799996 meters 0.027010924278733327 Centerline is valid? [True, True] Translation: X:237.81, Y:-9.45, Z:-5.22 [[ 9.99532532e-01 2.45440146e-02 1.82293609e-02 2.37807491e+02] [-2.45278763e-02 9.99698532e-01 -1.10838323e-03 -9.45156837e+00] [-1.82510696e-02 6.60737590e-04 9.99833217e-01 -5.21739142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80439141799997 meters 0.02507148918085763 Centerline is valid? [True, True] Translation: X:237.87, Y:-9.46, Z:-5.22 [[ 9.99491727e-01 2.64219055e-02 1.78373612e-02 2.37869788e+02] [-2.64066684e-02 9.99650690e-01 -1.08925833e-03 -9.45566950e+00] [-1.78599107e-02 6.17679406e-04 9.99840308e-01 -5.21904590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86439141799997 meters 0.02370007861988684 Centerline is valid? [True, True] Translation: X:237.93, Y:-9.46, Z:-5.22 [[ 9.99406950e-01 2.94876954e-02 1.77826987e-02 2.37931498e+02] [-2.94729470e-02 9.99564983e-01 -1.09092960e-03 -9.46056807e+00] [-1.78071320e-02 5.66174085e-04 9.99841280e-01 -5.22041528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92439141799997 meters 0.02301198811592173 Centerline is valid? [True, True] Translation: X:237.99, Y:-9.46, Z:-5.22 [[ 9.99321441e-01 3.19695847e-02 1.82921689e-02 2.37992470e+02] [-3.19542784e-02 9.99488695e-01 -1.12851403e-03 -9.46452295e+00] [-1.83188942e-02 5.43235212e-04 9.99832047e-01 -5.22131749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98439141799997 meters 0.0212748592730455 Centerline is valid? [True, True] Translation: X:238.05, Y:-9.47, Z:-5.22 [[ 9.99139005e-01 3.71304859e-02 1.85087983e-02 2.38053302e+02] [-3.71156926e-02 9.99310322e-01 -1.14225388e-03 -9.46713206e+00] [-1.85384457e-02 4.54303540e-04 9.99828045e-01 -5.22287500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04439141799998 meters 0.018420324494947724 Centerline is valid? [True, True] Translation: X:238.11, Y:-9.47, Z:-5.23 [[ 9.98868744e-01 4.43331513e-02 1.71989582e-02 2.38113380e+02] [-4.43214348e-02 9.99016758e-01 -1.06199432e-03 -9.46598661e+00] [-1.72291290e-02 2.98510427e-04 9.99851523e-01 -5.22520307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10439141799998 meters 0.01685687557356077 Centerline is valid? [True, True] Translation: X:238.17, Y:-9.47, Z:-5.23 [[ 9.98584072e-01 5.02518885e-02 1.74527742e-02 2.38172695e+02] [-5.02407364e-02 9.98736556e-01 -1.07712996e-03 -9.46550623e+00] [-1.74848514e-02 1.98764593e-04 9.99847109e-01 -5.22568994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16439141799998 meters 0.015567442673209444 Centerline is valid? [True, True] Translation: X:238.23, Y:-9.46, Z:-5.23 [[ 9.98070676e-01 5.92743132e-02 1.84792358e-02 2.38231858e+02] [-5.92633763e-02 9.98241731e-01 -1.13938753e-03 -9.46260086e+00] [-1.85142807e-02 4.20473809e-05 9.99828595e-01 -5.22513477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22439141799998 meters 0.01541648873937373 Centerline is valid? [True, True] Translation: X:238.29, Y:-9.46, Z:-5.23 [[ 9.97757440e-01 6.43023813e-02 1.85821300e-02 2.38290458e+02] [-6.42922219e-02 9.97930459e-01 -1.14422780e-03 -9.46445479e+00] [-1.86172501e-02 -5.30246276e-05 9.99826683e-01 -5.22550486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28439141799998 meters 0.015466565074865888 Centerline is valid? [True, True] Translation: X:238.35, Y:-9.47, Z:-5.23 [[ 9.97785193e-01 6.40552487e-02 1.79341771e-02 2.38348139e+02] [-6.40457675e-02 9.97946353e-01 -1.10310764e-03 -9.47038329e+00] [-1.79680065e-02 -4.79436711e-05 9.99838561e-01 -5.22750461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344391418 meters 0.015060393617886919 Centerline is valid? [True, True] Translation: X:238.41, Y:-9.48, Z:-5.23 [[ 9.98009751e-01 6.06511877e-02 1.72617948e-02 2.38405281e+02] [-6.06419298e-02 9.98159022e-01 -1.05973582e-03 -9.47897466e+00] [-1.72942905e-02 1.08381376e-05 9.99850443e-01 -5.22916234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404391418 meters 0.015893505532143946 Centerline is valid? [True, True] Translation: X:238.46, Y:-9.49, Z:-5.23 [[ 9.98529246e-01 5.17406186e-02 1.61942453e-02 2.38463235e+02] [-5.17313314e-02 9.98660545e-01 -9.92151573e-04 -9.49349088e+00] [-1.62238884e-02 1.52942492e-04 9.99868372e-01 -5.23125980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46439141799996 meters 0.017984913118773562 Centerline is valid? [True, True] Translation: X:238.52, Y:-9.51, Z:-5.23 [[ 9.98867952e-01 4.45026020e-02 1.68027609e-02 2.38521123e+02] [-4.44916045e-02 9.99009229e-01 -1.02794032e-03 -9.50632055e+00] [-1.68318592e-02 2.79194851e-04 9.99858295e-01 -5.23246516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52439141799996 meters 0.02156024741700169 Centerline is valid? [True, True] Translation: X:238.58, Y:-9.52, Z:-5.23 [[ 9.99257266e-01 3.50079997e-02 1.61045424e-02 2.38580081e+02] [-3.49966866e-02 9.99386944e-01 -9.83852427e-04 -9.52098170e+00] [-1.61291121e-02 4.19516065e-04 9.99869829e-01 -5.23393864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58439141799997 meters 0.02412768057013419 Centerline is valid? [True, True] Translation: X:238.64, Y:-9.53, Z:-5.24 [[ 9.99425565e-01 2.97250320e-02 1.62776532e-02 2.38639591e+02] [-2.97127794e-02 9.99557984e-01 -9.94101858e-04 -9.53228348e+00] [-1.63000079e-02 5.09876493e-04 9.99867016e-01 -5.23540136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64439141799997 meters 0.024435869729219618 Centerline is valid? [True, True] Translation: X:238.70, Y:-9.54, Z:-5.24 [[ 9.99439816e-01 2.91169603e-02 1.65001838e-02 2.38701054e+02] [-2.91043092e-02 9.99575873e-01 -1.00638822e-03 -9.53811294e+00] [-1.65224886e-02 5.25598012e-04 9.99863356e-01 -5.23696345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70439141799997 meters 0.024931757385522616 Centerline is valid? [True, True] Translation: X:238.76, Y:-9.54, Z:-5.24 [[ 9.99415278e-01 2.98371830e-02 1.66986545e-02 2.38762409e+02] [-2.98242897e-02 9.99554636e-01 -1.02066739e-03 -9.54365900e+00] [-1.67216713e-02 5.22045071e-04 9.99860047e-01 -5.23859612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76439141799997 meters 0.02239434405410198 Centerline is valid? [True, True] Translation: X:238.82, Y:-9.54, Z:-5.24 [[ 9.99396882e-01 3.03768353e-02 1.68261497e-02 2.38823730e+02] [-3.03637304e-02 9.99538381e-01 -1.03382056e-03 -9.54384833e+00] [-1.68497866e-02 5.22292372e-04 9.99857896e-01 -5.23927533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82439141799998 meters 0.023409739949287016 Centerline is valid? [True, True] Translation: X:238.89, Y:-9.55, Z:-5.24 [[ 9.99365454e-01 3.15564880e-02 1.65190032e-02 2.38885037e+02] [-3.15440275e-02 9.99501849e-01 -1.01439363e-03 -9.55037193e+00] [-1.65427850e-02 4.92674060e-04 9.99863037e-01 -5.24200912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88439141799998 meters 0.022251507398056685 Centerline is valid? [True, True] Translation: X:238.95, Y:-9.55, Z:-5.24 [[ 9.99350845e-01 3.23082366e-02 1.59394682e-02 2.38946106e+02] [-3.22966452e-02 9.99477843e-01 -9.84155355e-04 -9.55195318e+00] [-1.59629417e-02 4.68725134e-04 9.99872474e-01 -5.24402892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94439141799998 meters 0.022390653731353252 Centerline is valid? [True, True] Translation: X:239.01, Y:-9.56, Z:-5.25 [[ 9.99358153e-01 3.26917612e-02 1.46468533e-02 2.39006304e+02] [-3.26820029e-02 9.99465391e-01 -9.05159771e-04 -9.55530790e+00] [-1.46686143e-02 4.25890294e-04 9.99892319e-01 -5.24682892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00439141799998 meters 0.023278944917238927 Centerline is valid? [True, True] Translation: X:239.07, Y:-9.56, Z:-5.25 [[ 9.99398531e-01 3.24126647e-02 1.23286309e-02 2.39065528e+02] [-3.24057276e-02 9.99474506e-01 -7.62086132e-04 -9.55842853e+00] [-1.23468536e-02 3.62109506e-04 9.99923709e-01 -5.25051718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06439141799999 meters 0.023941407808172013 Centerline is valid? [True, True] Translation: X:239.13, Y:-9.56, Z:-5.25 [[ 9.99503029e-01 2.89923485e-02 1.23749494e-02 2.39125167e+02] [-2.89850978e-02 9.99579551e-01 -7.64902064e-04 -9.56037010e+00] [-1.23919227e-02 4.05832812e-04 9.99923135e-01 -5.25073167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124391418 meters 0.026189889380103935 Centerline is valid? [True, True] Translation: X:239.18, Y:-9.57, Z:-5.25 [[ 9.99557534e-01 2.64420109e-02 1.36218848e-02 2.39184493e+02] [-2.64330023e-02 9.99650233e-01 -8.40979581e-04 -9.56688118e+00] [-1.36393575e-02 4.80540166e-04 9.99906864e-01 -5.25102806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18439141799996 meters 0.02613218166798592 Centerline is valid? [True, True] Translation: X:239.25, Y:-9.57, Z:-5.25 [[ 9.99566016e-01 2.48594896e-02 1.58046008e-02 2.39245404e+02] [-2.48471656e-02 9.99690785e-01 -9.75684159e-04 -9.56826148e+00] [-1.58239688e-02 5.82561195e-04 9.99874623e-01 -5.24898749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24439141799996 meters 0.024762870997732465 Centerline is valid? [True, True] Translation: X:239.31, Y:-9.57, Z:-5.25 [[ 9.99518928e-01 2.65140531e-02 1.60909161e-02 2.39308111e+02] [-2.65015125e-02 9.99648281e-01 -9.92123735e-04 -9.56642467e+00] [-1.61115618e-02 5.65212838e-04 9.99870041e-01 -5.24943954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30439141799997 meters 0.02423058693110864 Centerline is valid? [True, True] Translation: X:239.37, Y:-9.57, Z:-5.25 [[ 9.99490526e-01 2.74048759e-02 1.63603335e-02 2.39369275e+02] [-2.73919304e-02 9.99624255e-01 -1.01487917e-03 -9.56848397e+00] [-1.63819988e-02 5.66221002e-04 9.99865646e-01 -5.25089574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36439141799997 meters 0.023190645627234566 Centerline is valid? [True, True] Translation: X:239.43, Y:-9.57, Z:-5.25 [[ 9.99446390e-01 2.87513888e-02 1.67412845e-02 2.39430461e+02] [-2.87380103e-02 9.99586438e-01 -1.03920985e-03 -9.57039409e+00] [-1.67642396e-02 5.57523325e-04 9.99859315e-01 -5.25300961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42439141799997 meters 0.021877537558952363 Centerline is valid? [True, True] Translation: X:239.49, Y:-9.57, Z:-5.25 [[ 9.99355590e-01 3.18422966e-02 1.65672377e-02 2.39491838e+02] [-3.18296079e-02 9.99492780e-01 -1.02907912e-03 -9.56904064e+00] [-1.65916027e-02 5.01087286e-04 9.99862224e-01 -5.25410929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48439141799997 meters 0.021439101577740954 Centerline is valid? [True, True] Translation: X:239.55, Y:-9.57, Z:-5.26 [[ 9.99244006e-01 3.54978179e-02 1.58531380e-02 2.39551724e+02] [-3.54866452e-02 9.99369665e-01 -9.85599132e-04 -9.56986087e+00] [-1.58781318e-02 4.22279342e-04 9.99873845e-01 -5.25602712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54439141799998 meters 0.018685156455287354 Centerline is valid? [True, True] Translation: X:239.61, Y:-9.57, Z:-5.26 [[ 9.98967558e-01 4.26534627e-02 1.56364980e-02 2.39611734e+02] [-4.26434653e-02 9.99089881e-01 -9.72380015e-04 -9.56688427e+00] [-1.56637423e-02 3.04581630e-04 9.99877270e-01 -5.25786596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60439141799998 meters 0.016874230300122323 Centerline is valid? [True, True] Translation: X:239.67, Y:-9.56, Z:-5.26 [[ 9.98728903e-01 4.77859763e-02 1.60336726e-02 2.39670542e+02] [-4.77761322e-02 9.98857571e-01 -9.96663014e-04 -9.56383092e+00] [-1.60629818e-02 2.29369299e-04 9.99870956e-01 -5.25908588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66439141799998 meters 0.01671019167237962 Centerline is valid? [True, True] Translation: X:239.73, Y:-9.57, Z:-5.26 [[ 9.98711245e-01 4.82680842e-02 1.56856749e-02 2.39729359e+02] [-4.82587410e-02 9.98834393e-01 -9.73835917e-04 -9.56612732e+00] [-1.57143968e-02 2.15609959e-04 9.99876498e-01 -5.26090443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72439141799998 meters 0.018380207141239557 Centerline is valid? [True, True] Translation: X:239.79, Y:-9.57, Z:-5.26 [[ 9.98934009e-01 4.35078893e-02 1.54242850e-02 2.39788026e+02] [-4.34983057e-02 9.99053043e-01 -9.56429782e-04 -9.57439563e+00] [-1.54512911e-02 2.84479971e-04 9.99880581e-01 -5.26315260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78439141799998 meters 0.023443909049561437 Centerline is valid? [True, True] Translation: X:239.85, Y:-9.59, Z:-5.26 [[ 9.99288594e-01 3.40057671e-02 1.63068863e-02 2.39846494e+02] [-3.39938200e-02 9.99421533e-01 -1.00934696e-03 -9.58806737e+00] [-1.63317770e-02 4.54295546e-04 9.99866524e-01 -5.26453269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844391418 meters 0.027739679395545645 Centerline is valid? [True, True] Translation: X:239.91, Y:-9.60, Z:-5.27 [[ 9.99591603e-01 2.36243528e-02 1.60784958e-02 2.39906503e+02] [-2.36113947e-02 9.99720717e-01 -9.95305359e-04 -9.59938919e+00] [-1.60975188e-02 6.15263169e-04 9.99870237e-01 -5.26591286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904391418 meters 0.03396054326721203 Centerline is valid? [True, True] Translation: X:239.96, Y:-9.61, Z:-5.27 [[ 9.99735540e-01 1.72052511e-02 1.52587758e-02 2.39964979e+02] [-1.71928316e-02 9.99851746e-01 -9.44734668e-04 -9.61287641e+00] [-1.52727680e-02 6.82143259e-04 9.99883132e-01 -5.26880225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96439141799996 meters 0.03782041858710003 Centerline is valid? [True, True] Translation: X:240.03, Y:-9.62, Z:-5.27 [[ 9.99843877e-01 9.55044222e-03 1.48664366e-02 2.40025810e+02] [-9.53781693e-03 9.99954091e-01 -9.19918385e-04 -9.62227909e+00] [-1.48745397e-02 7.77981414e-04 9.99889065e-01 -5.27108762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02439141799996 meters 0.04110663172972125 Centerline is valid? [True, True] Translation: X:240.09, Y:-9.63, Z:-5.27 [[ 9.99864364e-01 5.88876447e-03 1.53810082e-02 2.40086109e+02] [-5.87481014e-03 9.99982290e-01 -9.52269771e-04 -9.62890101e+00] [-1.53863435e-02 8.61780106e-04 9.99881252e-01 -5.27170344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08439141799997 meters 0.04396979425158425 Centerline is valid? [True, True] Translation: X:240.15, Y:-9.63, Z:-5.27 [[ 9.99853375e-01 3.87644350e-03 1.66794052e-02 2.40148481e+02] [-3.85975353e-03 9.99992018e-01 -1.03270880e-03 -9.63263874e+00] [-1.66832753e-02 9.68178984e-04 9.99860356e-01 -5.27188987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14439141799997 meters 0.0367946926726361 Centerline is valid? [True, True] Translation: X:240.21, Y:-9.62, Z:-5.27 [[ 9.99825784e-01 5.18130542e-03 1.79320015e-02 2.40211883e+02] [-5.16219930e-03 9.99986058e-01 -1.11160082e-03 -9.62183424e+00] [-1.79375110e-02 1.01883859e-03 9.99838591e-01 -5.27152254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20439141799997 meters 0.032753087875380504 Centerline is valid? [True, True] Translation: X:240.27, Y:-9.61, Z:-5.27 [[ 9.99823028e-01 8.64645610e-03 1.67078319e-02 2.40273572e+02] [-8.63032142e-03 9.99962220e-01 -1.03755740e-03 -9.61405166e+00] [-1.67161718e-02 8.93179819e-04 9.99859876e-01 -5.27395229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26439141799997 meters 0.03412025946412057 Centerline is valid? [True, True] Translation: X:240.33, Y:-9.62, Z:-5.28 [[ 9.99810020e-01 1.06505815e-02 1.63244647e-02 2.40334493e+02] [-1.06354551e-02 9.99942929e-01 -1.01314111e-03 -9.61776574e+00] [-1.63343236e-02 8.39330521e-04 9.99866234e-01 -5.27599593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32439141799998 meters 0.03013729870068623 Centerline is valid? [True, True] Translation: X:240.40, Y:-9.61, Z:-5.28 [[ 9.99764991e-01 1.55903826e-02 1.50632588e-02 2.40395981e+02] [-1.55779847e-02 9.99878214e-01 -9.40050929e-04 -9.60999441e+00] [-1.50760800e-02 7.05174795e-04 9.99886101e-01 -5.27862112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38439141799998 meters 0.027171899414776626 Centerline is valid? [True, True] Translation: X:240.46, Y:-9.60, Z:-5.28 [[ 9.99660442e-01 2.16218802e-02 1.45428420e-02 2.40457006e+02] [-2.16109530e-02 9.99766044e-01 -9.08132135e-04 -9.60170571e+00] [-1.45590752e-02 5.93539096e-04 9.99893835e-01 -5.27997166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44439141799998 meters 0.025787273302188298 Centerline is valid? [True, True] Translation: X:240.52, Y:-9.60, Z:-5.28 [[ 9.99550354e-01 2.62853427e-02 1.44280878e-02 2.40516798e+02] [-2.62750701e-02 9.99654345e-01 -9.01116938e-04 -9.59821621e+00] [-1.44467869e-02 5.21612735e-04 9.99895504e-01 -5.28141593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50439141799998 meters 0.02228766537026004 Centerline is valid? [True, True] Translation: X:240.58, Y:-9.59, Z:-5.28 [[ 9.99296837e-01 3.41293673e-02 1.55247496e-02 2.40577622e+02] [-3.41184247e-02 9.99417327e-01 -9.69235490e-04 -9.58939295e+00] [-1.55487831e-02 4.38873959e-04 9.99879014e-01 -5.28126961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56439141799999 meters 0.01834435708601721 Centerline is valid? [True, True] Translation: X:240.64, Y:-9.58, Z:-5.28 [[ 9.98970467e-01 4.21400758e-02 1.67993848e-02 2.40638511e+02] [-4.21283983e-02 9.99111655e-01 -1.04856236e-03 -9.57879298e+00] [-1.68286476e-02 3.39751658e-04 9.99858331e-01 -5.28125542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624391418 meters 0.016498206898050465 Centerline is valid? [True, True] Translation: X:240.70, Y:-9.57, Z:-5.28 [[ 9.98748471e-01 4.70142389e-02 1.70631901e-02 2.40698282e+02] [-4.70029051e-02 9.98894185e-01 -1.06488059e-03 -9.57361495e+00] [-1.70943859e-02 2.61528358e-04 9.99853846e-01 -5.28223746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68439141799996 meters 0.015132672488086864 Centerline is valid? [True, True] Translation: X:240.76, Y:-9.57, Z:-5.28 [[ 9.98485611e-01 5.23013841e-02 1.70601555e-02 2.40757710e+02] [-5.22908415e-02 9.98631332e-01 -1.06376731e-03 -9.56759401e+00] [-1.70924424e-02 1.70066468e-04 9.99853899e-01 -5.28315989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74439141799996 meters 0.014952525971837001 Centerline is valid? [True, True] Translation: X:240.82, Y:-9.57, Z:-5.28 [[ 9.98399015e-01 5.39691023e-02 1.69334583e-02 2.40816680e+02] [-5.39589788e-02 9.98542596e-01 -1.05449531e-03 -9.56729352e+00] [-1.69656895e-02 1.39094963e-04 9.99856063e-01 -5.28458140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80439141799997 meters 0.014933782449960496 Centerline is valid? [True, True] Translation: X:240.87, Y:-9.57, Z:-5.29 [[ 9.98398808e-01 5.37168034e-02 1.77291973e-02 2.40873804e+02] [-5.37056884e-02 9.98556199e-01 -1.10279689e-03 -9.56846575e+00] [-1.77628386e-02 1.48872358e-04 9.99842217e-01 -5.28533616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86439141799997 meters 0.015317397730124834 Centerline is valid? [True, True] Translation: X:240.93, Y:-9.57, Z:-5.29 [[ 9.98571804e-01 5.04836536e-02 1.74857842e-02 2.40932816e+02] [-5.04723918e-02 9.98724867e-01 -1.08505020e-03 -9.57224049e+00] [-1.75182648e-02 2.00951188e-04 9.99846523e-01 -5.28665719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92439141799997 meters 0.01603254430090787 Centerline is valid? [True, True] Translation: X:240.99, Y:-9.58, Z:-5.29 [[ 9.98714103e-01 4.76532711e-02 1.73004607e-02 2.40991672e+02] [-4.76418464e-02 9.98863907e-01 -1.07214928e-03 -9.57785536e+00] [-1.73318972e-02 2.46544714e-04 9.99849761e-01 -5.28846520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98439141799997 meters 0.0174460948058326 Centerline is valid? [True, True] Translation: X:241.05, Y:-9.58, Z:-5.29 [[ 9.98936016e-01 4.31731912e-02 1.62145603e-02 2.41050239e+02] [-4.31625853e-02 9.99067557e-01 -1.00364618e-03 -9.58450684e+00] [-1.62427718e-02 3.02715977e-04 9.99868032e-01 -5.29046192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04439141799998 meters 0.019078725862508195 Centerline is valid? [True, True] Translation: X:241.11, Y:-9.59, Z:-5.29 [[ 9.99180616e-01 3.74362634e-02 1.53825639e-02 2.41109254e+02] [-3.74260573e-02 9.99298947e-01 -9.50919933e-04 -9.59105688e+00] [-1.54073788e-02 3.74432044e-04 9.99881229e-01 -5.29232324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10439141799998 meters 0.022955038608028472 Centerline is valid? [True, True] Translation: X:241.17, Y:-9.60, Z:-5.30 [[ 9.99413545e-01 3.10653830e-02 1.44051571e-02 2.41167191e+02] [-3.10557851e-02 9.99517257e-01 -8.89551779e-04 -9.60179887e+00] [-1.44258374e-02 4.41666634e-04 9.99895845e-01 -5.29511448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16439141799998 meters 0.023732968287989997 Centerline is valid? [True, True] Translation: X:241.23, Y:-9.61, Z:-5.30 [[ 9.99527573e-01 2.75666506e-02 1.35908575e-02 2.41226494e+02] [-2.75577965e-02 9.99619860e-01 -8.38357001e-04 -9.60687359e+00] [-1.36088018e-02 4.63426853e-04 9.99907289e-01 -5.29665218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22439141799998 meters 0.027371809644749116 Centerline is valid? [True, True] Translation: X:241.29, Y:-9.61, Z:-5.30 [[ 9.99642594e-01 2.30761900e-02 1.34971631e-02 2.41285504e+02] [-2.30670584e-02 9.99733574e-01 -8.31864733e-04 -9.61478190e+00] [-1.35127634e-02 5.20227570e-04 9.99908563e-01 -5.29870074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28439141799998 meters 0.029772495844488052 Centerline is valid? [True, True] Translation: X:241.35, Y:-9.62, Z:-5.30 [[ 9.99701317e-01 2.00962878e-02 1.39073831e-02 2.41345507e+02] [-2.00863110e-02 9.99797883e-01 -8.56698222e-04 -9.62109442e+00] [-1.39217887e-02 5.77094319e-04 9.99902921e-01 -5.29942432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344391418 meters 0.02783621191526883 Centerline is valid? [True, True] Translation: X:241.41, Y:-9.62, Z:-5.30 [[ 9.99730742e-01 1.85054552e-02 1.39996878e-02 2.41406585e+02] [-1.84951921e-02 9.99828578e-01 -8.62220841e-04 -9.62103697e+00] [-1.40132438e-02 6.03061765e-04 9.99901628e-01 -5.29906007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40439141799996 meters 0.028618907461912542 Centerline is valid? [True, True] Translation: X:241.47, Y:-9.62, Z:-5.30 [[ 9.99755960e-01 1.72522193e-02 1.37978469e-02 2.41468257e+02] [-1.72421294e-02 9.99850982e-01 -8.49898422e-04 -9.62390596e+00] [-1.38104534e-02 6.11786752e-04 9.99904444e-01 -5.29956624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46439141799996 meters 0.02786996096662094 Centerline is valid? [True, True] Translation: X:241.53, Y:-9.62, Z:-5.30 [[ 9.99760196e-01 1.81711440e-02 1.22213220e-02 2.41529331e+02] [-1.81632920e-02 9.99834750e-01 -7.53183207e-04 -9.62469784e+00] [-1.22329886e-02 5.31023151e-04 9.99925033e-01 -5.30204179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52439141799996 meters 0.027809395515473945 Centerline is valid? [True, True] Translation: X:241.59, Y:-9.63, Z:-5.30 [[ 9.99744893e-01 1.95540516e-02 1.13043536e-02 2.41589931e+02] [-1.95474125e-02 9.99808688e-01 -6.97502858e-04 -9.62642977e+00] [-1.13158300e-02 4.76354056e-04 9.99935860e-01 -5.30466451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58439141799997 meters 0.02572567471102625 Centerline is valid? [True, True] Translation: X:241.65, Y:-9.62, Z:-5.31 [[ 9.99694913e-01 2.28754203e-02 9.31648081e-03 2.41650415e+02] [-2.28710525e-02 9.99738258e-01 -5.75105162e-04 -9.62291209e+00] [-9.32719806e-03 3.61851983e-04 9.99956435e-01 -5.30641757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64439141799997 meters 0.024349010626315826 Centerline is valid? [True, True] Translation: X:241.71, Y:-9.62, Z:-5.31 [[ 9.99607644e-01 2.64149731e-02 9.31705528e-03 2.41710841e+02] [-2.64107601e-02 9.99651010e-01 -5.74948675e-04 -9.62174145e+00] [-9.32899097e-03 3.28652578e-04 9.99956430e-01 -5.30699406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70439141799997 meters 0.02216668485360543 Centerline is valid? [True, True] Translation: X:241.77, Y:-9.62, Z:-5.31 [[ 9.99395330e-01 3.32003489e-02 1.03300849e-02 2.41769908e+02] [-3.31955299e-02 9.99448673e-01 -6.37663906e-04 -9.61756677e+00] [-1.03455604e-02 2.94365686e-04 9.99946440e-01 -5.30691904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76439141799997 meters 0.01868765488441013 Centerline is valid? [True, True] Translation: X:241.83, Y:-9.61, Z:-5.31 [[ 9.99050191e-01 4.21200405e-02 1.11632453e-02 2.41830603e+02] [-4.21149825e-02 9.99112534e-01 -6.87889620e-04 -9.61095444e+00] [-1.11823122e-02 2.17096378e-04 9.99937452e-01 -5.30660545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82439141799998 meters 0.016725796593523447 Centerline is valid? [True, True] Translation: X:241.89, Y:-9.61, Z:-5.31 [[ 9.98743258e-01 4.86811702e-02 1.19184158e-02 2.41889953e+02] [-4.86758678e-02 9.98814357e-01 -7.34741386e-04 -9.60727220e+00] [-1.19400529e-02 1.53678775e-04 9.99928703e-01 -5.30682068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88439141799998 meters 0.014942893147138293 Centerline is valid? [True, True] Translation: X:241.95, Y:-9.60, Z:-5.31 [[ 9.98231853e-01 5.80702540e-02 1.26890996e-02 2.41949806e+02] [-5.80650177e-02 9.98312498e-01 -7.80997464e-04 -9.60131587e+00] [-1.27130394e-02 4.28237548e-05 9.99919185e-01 -5.30668802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94439141799998 meters 0.014997463460702734 Centerline is valid? [True, True] Translation: X:242.01, Y:-9.60, Z:-5.31 [[ 9.97791175e-01 6.54321435e-02 1.14632439e-02 2.42008868e+02] [-6.54283588e-02 9.97857020e-01 -7.05268953e-04 -9.59787370e+00] [-1.14848257e-02 -4.63100985e-05 9.99934046e-01 -5.30720423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00439141799998 meters 0.01572505113117011 Centerline is valid? [True, True] Translation: X:242.07, Y:-9.60, Z:-5.31 [[ 9.97585856e-01 6.86373827e-02 1.05531596e-02 2.42066748e+02] [-6.86343598e-02 9.97641671e-01 -6.48766411e-04 -9.59859898e+00] [-1.05728014e-02 -7.71091591e-05 9.99944103e-01 -5.30960797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06439141799999 meters 0.01637333277695598 Centerline is valid? [True, True] Translation: X:242.13, Y:-9.60, Z:-5.31 [[ 9.97432624e-01 7.09230629e-02 9.90348991e-03 2.42125151e+02] [-7.09205005e-02 9.97481784e-01 -6.10130113e-04 -9.60148608e+00] [-9.92182308e-03 -9.37967818e-05 9.99950773e-01 -5.31205852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124391418 meters 0.016161190775849873 Centerline is valid? [True, True] Translation: X:242.18, Y:-9.61, Z:-5.31 [[ 9.97450948e-01 7.06359218e-02 1.01080509e-02 2.42183989e+02] [-7.06332919e-02 9.97502159e-01 -6.17376786e-04 -9.60582454e+00] [-1.01264116e-02 -9.81618518e-05 9.99948722e-01 -5.31317116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18439141799996 meters 0.01638957174736926 Centerline is valid? [True, True] Translation: X:242.24, Y:-9.61, Z:-5.31 [[ 9.97553973e-01 6.90431586e-02 1.09139055e-02 2.42241923e+02] [-6.90400061e-02 9.97613670e-01 -6.65795150e-04 -9.60945293e+00] [-1.09338299e-02 -8.93295067e-05 9.99940220e-01 -5.31493923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24439141799996 meters 0.015136749216003985 Centerline is valid? [True, True] Translation: X:242.30, Y:-9.62, Z:-5.31 [[ 9.97804205e-01 6.51968596e-02 1.16678545e-02 2.42300774e+02] [-6.51930025e-02 9.97872420e-01 -7.11011291e-04 -9.61878236e+00] [-1.16893860e-02 -5.12124156e-05 9.99931675e-01 -5.31384365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30439141799997 meters 0.014676180664700663 Centerline is valid? [True, True] Translation: X:242.36, Y:-9.63, Z:-5.31 [[ 9.98019565e-01 6.16877822e-02 1.23112136e-02 2.42359516e+02] [-6.16832531e-02 9.98095495e-01 -7.47622858e-04 -9.62760016e+00] [-1.23338860e-02 -1.32534615e-05 9.99923935e-01 -5.31367903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36439141799997 meters 0.014727365017316333 Centerline is valid? [True, True] Translation: X:242.42, Y:-9.64, Z:-5.32 [[ 9.98308797e-01 5.67775897e-02 1.24840614e-02 2.42415565e+02] [-5.67725457e-02 9.98386850e-01 -7.58341535e-04 -9.63941653e+00] [-1.25069795e-02 4.83070791e-05 9.99921784e-01 -5.31507252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42439141799997 meters 0.015859235938439003 Centerline is valid? [True, True] Translation: X:242.47, Y:-9.65, Z:-5.32 [[ 9.98480401e-01 5.36805615e-02 1.24613998e-02 2.42473748e+02] [-5.36753434e-02 9.98558156e-01 -7.53052527e-04 -9.65066933e+00] [-1.24838567e-02 8.30382769e-05 9.99922070e-01 -5.31781717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48439141799997 meters 0.01541249304838005 Centerline is valid? [True, True] Translation: X:242.53, Y:-9.66, Z:-5.32 [[ 9.98555604e-01 5.22059238e-02 1.26983166e-02 2.42530931e+02] [-5.22003972e-02 9.98636336e-01 -7.66503473e-04 -9.65957669e+00] [-1.27210164e-02 1.02539168e-04 9.99919079e-01 -5.31992786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54439141799998 meters 0.014964945398030585 Centerline is valid? [True, True] Translation: X:242.59, Y:-9.67, Z:-5.32 [[ 9.98517517e-01 5.27421515e-02 1.34548694e-02 2.42589273e+02] [-5.27360167e-02 9.98608159e-01 -8.10588258e-04 -9.66708409e+00] [-1.34788945e-02 9.98303591e-05 9.99909151e-01 -5.31985021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60439141799998 meters 0.01441799837492058 Centerline is valid? [True, True] Translation: X:242.65, Y:-9.67, Z:-5.32 [[ 9.98275070e-01 5.69277376e-02 1.43567864e-02 2.42648317e+02] [-5.69212037e-02 9.98378300e-01 -8.63657241e-04 -9.67152954e+00] [-1.43826701e-02 4.49619288e-05 9.99896563e-01 -5.32032457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66439141799998 meters 0.014298317643092716 Centerline is valid? [True, True] Translation: X:242.71, Y:-9.67, Z:-5.32 [[ 9.98026576e-01 6.10863313e-02 1.45400578e-02 2.42707327e+02] [-6.10800876e-02 9.98132486e-01 -8.73518104e-04 -9.67472032e+00] [-1.45662641e-02 -1.63137227e-05 9.99893906e-01 -5.32098155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72439141799998 meters 0.015032286976935233 Centerline is valid? [True, True] Translation: X:242.77, Y:-9.68, Z:-5.32 [[ 9.97593165e-01 6.77395160e-02 1.48065945e-02 2.42765993e+02] [-6.77337911e-02 9.97703034e-01 -8.88365940e-04 -9.67890303e+00] [-1.48327618e-02 -1.16678991e-04 9.99889982e-01 -5.32253684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78439141799998 meters 0.016236639873487085 Centerline is valid? [True, True] Translation: X:242.82, Y:-9.68, Z:-5.33 [[ 9.97222926e-01 7.32476143e-02 1.34619257e-02 2.42824355e+02] [-7.32433963e-02 9.97313769e-01 -8.06746957e-04 -9.68408913e+00] [-1.34848561e-02 -1.81490597e-04 9.99909059e-01 -5.32558016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844391418 meters 0.017057415557724227 Centerline is valid? [True, True] Translation: X:242.88, Y:-9.69, Z:-5.33 [[ 9.97063566e-01 7.55133542e-02 1.27270574e-02 2.42881932e+02] [-7.55097783e-02 9.97144770e-01 -7.61945251e-04 -9.69085060e+00] [-1.27482558e-02 -2.01309433e-04 9.99918717e-01 -5.32720401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90439141799996 meters 0.01663591052211868 Centerline is valid? [True, True] Translation: X:242.94, Y:-9.70, Z:-5.33 [[ 9.97127666e-01 7.46215274e-02 1.29632053e-02 2.42940057e+02] [-7.46177618e-02 9.97211908e-01 -7.74574138e-04 -9.69948029e+00] [-1.29848625e-02 -1.94936059e-04 9.99915674e-01 -5.32781205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96439141799996 meters 0.015339275660760958 Centerline is valid? [True, True] Translation: X:243.00, Y:-9.71, Z:-5.33 [[ 9.97492564e-01 6.93506481e-02 1.41093019e-02 2.42997949e+02] [-6.93456779e-02 9.97592336e-01 -8.41785622e-04 -9.71418414e+00] [-1.41337098e-02 -1.38744206e-04 9.99900105e-01 -5.32826379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02439141799996 meters 0.014071557518268704 Centerline is valid? [True, True] Translation: X:243.06, Y:-9.73, Z:-5.33 [[ 9.98063594e-01 6.02873256e-02 1.53134050e-02 2.43055719e+02] [-6.02804239e-02 9.98181065e-01 -9.12291408e-04 -9.73145763e+00] [-1.53405506e-02 -1.25737055e-05 9.99882327e-01 -5.32813566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08439141799997 meters 0.01438613229361099 Centerline is valid? [True, True] Translation: X:243.11, Y:-9.75, Z:-5.33 [[ 9.98512951e-01 5.22078287e-02 1.56916771e-02 2.43113291e+02] [-5.21996009e-02 9.98636235e-01 -9.33740580e-04 -9.74526769e+00] [-1.57190259e-02 1.13252782e-04 9.99876442e-01 -5.32980715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14439141799997 meters 0.018055788716653844 Centerline is valid? [True, True] Translation: X:243.17, Y:-9.77, Z:-5.33 [[ 9.99126537e-01 3.87055171e-02 1.57494997e-02 2.43172649e+02] [-3.86955924e-02 9.99250608e-01 -9.34517815e-04 -9.76652294e+00] [-1.57738681e-02 3.24265326e-04 9.99875532e-01 -5.33191327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20439141799997 meters 0.021508370395468542 Centerline is valid? [True, True] Translation: X:243.23, Y:-9.78, Z:-5.33 [[ 9.99447510e-01 2.91194041e-02 1.60229819e-02 2.43232128e+02] [-2.91078984e-02 9.99575823e-01 -9.50867786e-04 -9.78017448e+00] [-1.60438741e-02 4.83947109e-04 9.99871172e-01 -5.33248181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26439141799997 meters 0.028261801342528148 Centerline is valid? [True, True] Translation: X:243.29, Y:-9.80, Z:-5.33 [[ 9.99734395e-01 1.63299523e-02 1.62626010e-02 2.43292424e+02] [-1.63164203e-02 9.99866413e-01 -9.64436104e-04 -9.79837217e+00] [-1.62761778e-02 6.98832511e-04 9.99867290e-01 -5.33375293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32439141799998 meters 0.03232425520403742 Centerline is valid? [True, True] Translation: X:243.35, Y:-9.81, Z:-5.34 [[ 9.99854660e-01 8.50228865e-03 1.47773527e-02 2.43351972e+02] [-8.49025088e-03 9.99963572e-01 -8.77154996e-04 -9.80907732e+00] [-1.47842722e-02 7.51564078e-04 9.99890424e-01 -5.33624320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38439141799998 meters 0.03218898404135235 Centerline is valid? [True, True] Translation: X:243.41, Y:-9.81, Z:-5.34 [[ 9.99884473e-01 7.20033540e-03 1.33864390e-02 2.43413478e+02] [-7.19037630e-03 9.99973835e-01 -7.91950071e-04 -9.81279817e+00] [-1.33917911e-02 6.95605045e-04 9.99910084e-01 -5.33846934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44439141799998 meters 0.034017516761789914 Centerline is valid? [True, True] Translation: X:243.48, Y:-9.82, Z:-5.34 [[ 9.99888405e-01 8.97172605e-03 1.19451395e-02 2.43475036e+02] [-8.96389353e-03 9.99959572e-01 -7.09086724e-04 -9.81631184e+00] [-1.19510183e-02 6.01932635e-04 9.99928403e-01 -5.34097918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50439141799998 meters 0.030500161474655837 Centerline is valid? [True, True] Translation: X:243.54, Y:-9.81, Z:-5.34 [[ 9.99857176e-01 1.21578864e-02 1.17393820e-02 2.43537244e+02] [-1.21504796e-02 9.99925934e-01 -7.02054819e-04 -9.81236114e+00] [-1.17470480e-02 5.59315427e-04 9.99930845e-01 -5.34114716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56439141799999 meters 0.02822386750606213 Centerline is valid? [True, True] Translation: X:243.60, Y:-9.81, Z:-5.34 [[ 9.99746985e-01 1.80904337e-02 1.33679850e-02 2.43598086e+02] [-1.80813298e-02 9.99836198e-01 -8.01579473e-04 -9.80709828e+00] [-1.33802962e-02 5.59665715e-04 9.99910323e-01 -5.33984552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624391418 meters 0.0233830541686885 Centerline is valid? [True, True] Translation: X:243.66, Y:-9.80, Z:-5.34 [[ 9.99584907e-01 2.49270595e-02 1.44449287e-02 2.43660190e+02] [-2.49171395e-02 9.99689144e-01 -8.66338388e-04 -9.79733993e+00] [-1.44620337e-02 5.06052473e-04 9.99895291e-01 -5.33837066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68439141799996 meters 0.02229629563470728 Centerline is valid? [True, True] Translation: X:243.72, Y:-9.80, Z:-5.34 [[ 9.99458717e-01 2.96179012e-02 1.43196843e-02 2.43720353e+02] [-2.96086270e-02 9.99561199e-01 -8.59270972e-04 -9.79510195e+00] [-1.43388506e-02 4.34819672e-04 9.99897099e-01 -5.33962433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74439141799996 meters 0.01932705630407248 Centerline is valid? [True, True] Translation: X:243.78, Y:-9.79, Z:-5.34 [[ 9.99248240e-01 3.64126551e-02 1.33068939e-02 2.43781247e+02] [-3.64052461e-02 9.99336790e-01 -7.98670283e-04 -9.78737066e+00] [-1.33271503e-02 3.13629128e-04 9.99911140e-01 -5.34133708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80439141799997 meters 0.01667090367232691 Centerline is valid? [True, True] Translation: X:243.84, Y:-9.78, Z:-5.34 [[ 9.99024511e-01 4.23744044e-02 1.24272190e-02 2.43840444e+02] [-4.23683990e-02 9.99101778e-01 -7.46237144e-04 -9.78033546e+00] [-1.24476779e-02 2.18987825e-04 9.99922501e-01 -5.34272606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86439141799997 meters 0.015353238616525657 Centerline is valid? [True, True] Translation: X:243.90, Y:-9.77, Z:-5.34 [[ 9.98761843e-01 4.82388340e-02 1.21571582e-02 2.43899963e+02] [-4.82335326e-02 9.98835820e-01 -7.29069853e-04 -9.77462712e+00] [-1.21781746e-02 1.41784464e-04 9.99925833e-01 -5.34410370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92439141799997 meters 0.014561967882958911 Centerline is valid? [True, True] Translation: X:243.96, Y:-9.77, Z:-5.35 [[ 9.98587428e-01 5.16848311e-02 1.23218122e-02 2.43959456e+02] [-5.16796516e-02 9.98663441e-01 -7.38596399e-04 -9.77262970e+00] [-1.23435176e-02 1.00766117e-04 9.99923811e-01 -5.34508798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98439141799997 meters 0.014024492210169744 Centerline is valid? [True, True] Translation: X:244.02, Y:-9.77, Z:-5.35 [[ 9.98456168e-01 5.38711169e-02 1.35344936e-02 2.44018496e+02] [-5.38651080e-02 9.98547894e-01 -8.08378698e-04 -9.77112955e+00] [-1.35583883e-02 7.80937394e-05 9.99908078e-01 -5.34553500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04439141799998 meters 0.013972606678197474 Centerline is valid? [True, True] Translation: X:244.08, Y:-9.77, Z:-5.35 [[ 9.98469692e-01 5.34469439e-02 1.42020562e-02 2.44076357e+02] [-5.34402976e-02 9.98570687e-01 -8.47344499e-04 -9.77439786e+00] [-1.42270450e-02 8.70856927e-05 9.99898787e-01 -5.34646980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10439141799998 meters 0.014699293564144792 Centerline is valid? [True, True] Translation: X:244.13, Y:-9.78, Z:-5.35 [[ 9.98637816e-01 4.95077349e-02 1.64771773e-02 2.44133662e+02] [-4.94982928e-02 9.98773727e-01 -9.80618690e-04 -9.78037398e+00] [-1.65055200e-02 1.63690759e-04 9.99863761e-01 -5.34691012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16439141799998 meters 0.016889658235086168 Centerline is valid? [True, True] Translation: X:244.19, Y:-9.79, Z:-5.35 [[ 9.98950571e-01 4.22613012e-02 1.76561628e-02 2.44193097e+02] [-4.22493647e-02 9.99106547e-01 -1.04868284e-03 -9.79041088e+00] [-1.76847065e-02 3.01620664e-04 9.99843568e-01 -5.34837386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22439141799998 meters 0.018788712067383088 Centerline is valid? [True, True] Translation: X:244.25, Y:-9.80, Z:-5.35 [[ 9.99203397e-01 3.59072797e-02 1.74137536e-02 2.44252361e+02] [-3.58947154e-02 9.99355043e-01 -1.03363271e-03 -9.79860394e+00] [-1.74396374e-02 4.07747586e-04 9.99847835e-01 -5.35074360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28439141799998 meters 0.019265530273926416 Centerline is valid? [True, True] Translation: X:244.31, Y:-9.80, Z:-5.35 [[ 9.99272275e-01 3.39254746e-02 1.74351244e-02 2.44311241e+02] [-3.39125885e-02 9.99424268e-01 -1.03429779e-03 -9.80335211e+00] [-1.74601755e-02 4.42274908e-04 9.99847462e-01 -5.35282332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344391418 meters 0.019102522222158084 Centerline is valid? [True, True] Translation: X:244.37, Y:-9.81, Z:-5.35 [[ 9.99190928e-01 3.59027480e-02 1.81240674e-02 2.44370206e+02] [-3.58891712e-02 9.99355199e-01 -1.07390771e-03 -9.80566944e+00] [-1.81509372e-02 4.22581081e-04 9.99835169e-01 -5.35483733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40439141799996 meters 0.01765406288108438 Centerline is valid? [True, True] Translation: X:244.43, Y:-9.81, Z:-5.36 [[ 9.99024485e-01 4.02039746e-02 1.82679723e-02 2.44429736e+02] [-4.01909121e-02 9.99191433e-01 -1.08176986e-03 -9.80536990e+00] [-1.82966929e-02 3.46508108e-04 9.99832541e-01 -5.35686208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46439141799996 meters 0.014727824144334187 Centerline is valid? [True, True] Translation: X:244.49, Y:-9.80, Z:-5.36 [[ 9.98554373e-01 5.01893017e-02 1.92405586e-02 2.44490455e+02] [-5.01766798e-02 9.98739708e-01 -1.13850424e-03 -9.80009609e+00] [-1.92734506e-02 1.71431039e-04 9.99814235e-01 -5.35801813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52439141799996 meters 0.013954482299719803 Centerline is valid? [True, True] Translation: X:244.55, Y:-9.79, Z:-5.36 [[ 9.97870946e-01 6.21437750e-02 1.97920545e-02 2.44549941e+02] [-6.21327742e-02 9.98067206e-01 -1.17085972e-03 -9.79356038e+00] [-1.98265621e-02 -6.13683581e-05 9.99803433e-01 -5.35873794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58439141799997 meters 0.015584034925200312 Centerline is valid? [True, True] Translation: X:244.61, Y:-9.79, Z:-5.36 [[ 9.97255847e-01 7.15651356e-02 1.89527512e-02 2.44609343e+02] [-7.15567751e-02 9.97435900e-01 -1.11978227e-03 -9.79074695e+00] [-1.89842918e-02 -2.39488343e-04 9.99819753e-01 -5.36122862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64439141799997 meters 0.01626288879758407 Centerline is valid? [True, True] Translation: X:244.67, Y:-9.79, Z:-5.36 [[ 9.97068976e-01 7.43869978e-02 1.78894491e-02 2.44667912e+02] [-7.43800273e-02 9.97229411e-01 -1.05561682e-03 -9.79323863e+00] [-1.79184089e-02 -2.78094925e-04 9.99839414e-01 -5.36379622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70439141799997 meters 0.016285203928881522 Centerline is valid? [True, True] Translation: X:244.73, Y:-9.80, Z:-5.37 [[ 9.97200685e-01 7.29725579e-02 1.63033340e-02 2.44726226e+02] [-7.29665985e-02 9.97333922e-01 -9.60866462e-04 -9.80084845e+00] [-1.63299850e-02 -2.31422135e-04 9.99866630e-01 -5.36762867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76439141799997 meters 0.014619663866097303 Centerline is valid? [True, True] Translation: X:244.78, Y:-9.81, Z:-5.37 [[ 9.97649178e-01 6.66043042e-02 1.61240584e-02 2.44784087e+02] [-6.65976634e-02 9.97779460e-01 -9.49051941e-04 -9.81335856e+00] [-1.61514652e-02 -1.27003723e-04 9.99869549e-01 -5.36926174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82439141799998 meters 0.013743706779494292 Centerline is valid? [True, True] Translation: X:244.84, Y:-9.83, Z:-5.37 [[ 9.98267682e-01 5.59472040e-02 1.82083662e-02 2.44842219e+02] [-5.59369917e-02 9.98433727e-01 -1.07007622e-03 -9.82955116e+00] [-1.82397147e-02 4.97012820e-05 9.99833641e-01 -5.36936625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88439141799998 meters 0.014985437482113895 Centerline is valid? [True, True] Translation: X:244.90, Y:-9.84, Z:-5.37 [[ 9.98676839e-01 4.73716790e-02 2.00123978e-02 2.44899848e+02] [-4.73576556e-02 9.98877306e-01 -1.17433868e-03 -9.84271952e+00] [-2.00455604e-02 2.25044594e-04 9.99799042e-01 -5.36932371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94439141799998 meters 0.01957175187374062 Centerline is valid? [True, True] Translation: X:244.96, Y:-9.86, Z:-5.37 [[ 9.99213560e-01 3.27625276e-02 2.23355636e-02 2.44959380e+02] [-3.27414646e-02 9.99462998e-01 -1.30816923e-03 -9.86165133e+00] [-2.23664283e-02 5.75841367e-04 9.99749674e-01 -5.36915585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00439141799998 meters 0.024917105953265475 Centerline is valid? [True, True] Translation: X:245.02, Y:-9.88, Z:-5.37 [[ 9.99505935e-01 2.21921685e-02 2.22574163e-02 2.45018837e+02] [-2.21686338e-02 9.99753396e-01 -1.30359713e-03 -9.87653778e+00] [-2.22808572e-02 8.09536552e-04 9.99751423e-01 -5.37074771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06439141799999 meters 0.03373573681029551 Centerline is valid? [True, True] Translation: X:245.08, Y:-9.90, Z:-5.37 [[ 9.99736701e-01 7.12844249e-03 2.18108568e-02 2.45077997e+02] [-7.10226283e-03 9.99973963e-01 -1.27753207e-03 -9.89677125e+00] [-2.18193957e-02 1.12228926e-03 9.99761299e-01 -5.37347891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124391418 meters 0.04252601646200579 Centerline is valid? [True, True] Translation: X:245.14, Y:-9.91, Z:-5.38 [[ 9.99758094e-01 -2.44840835e-03 2.18576846e-02 2.45137010e+02] [ 2.47698302e-03 9.99996113e-01 -1.28032730e-03 -9.91318443e+00] [-2.18544649e-02 1.33415870e-03 9.99760272e-01 -5.37504114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18439141799996 meters 0.042699654315305174 Centerline is valid? [True, True] Translation: X:245.20, Y:-9.91, Z:-5.38 [[ 9.99795645e-01 -3.32215115e-03 1.99407165e-02 2.45198933e+02] [ 3.34610591e-03 9.99993720e-01 -1.16805391e-03 -9.91417124e+00] [-1.99367108e-02 1.23453896e-03 9.99800482e-01 -5.37848766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24439141799996 meters 0.03734283203811314 Centerline is valid? [True, True] Translation: X:245.26, Y:-9.91, Z:-5.38 [[ 9.99815908e-01 -8.97621745e-04 1.91662523e-02 2.45261149e+02] [ 9.19414340e-04 9.99998941e-01 -1.12824814e-03 -9.90781805e+00] [-1.91652193e-02 1.14566216e-03 9.99815674e-01 -5.38080438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30439141799997 meters 0.0357771845455183 Centerline is valid? [True, True] Translation: X:245.32, Y:-9.90, Z:-5.38 [[ 9.99826183e-01 5.62168504e-03 1.77763820e-02 2.45321224e+02] [-5.60394216e-03 9.99983749e-01 -1.04777146e-03 -9.90326523e+00] [-1.77819833e-02 9.47971526e-04 9.99841439e-01 -5.38360451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36439141799997 meters 0.03144233809631407 Centerline is valid? [True, True] Translation: X:245.38, Y:-9.90, Z:-5.39 [[ 9.99798801e-01 1.03934801e-02 1.71561445e-02 2.45382856e+02] [-1.03776642e-02 9.99945640e-01 -1.01065174e-03 -9.89593639e+00] [-1.71657161e-02 8.32407686e-04 9.99852312e-01 -5.38514248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42439141799997 meters 0.027495761143259342 Centerline is valid? [True, True] Translation: X:245.44, Y:-9.89, Z:-5.39 [[ 9.99710441e-01 1.69967876e-02 1.70336163e-02 2.45444274e+02] [-1.69821439e-02 9.99855289e-01 -1.00398454e-03 -9.88572928e+00] [-1.70482159e-02 7.14426504e-04 9.99854413e-01 -5.38598987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48439141799997 meters 0.024733645772490268 Centerline is valid? [True, True] Translation: X:245.51, Y:-9.88, Z:-5.39 [[ 9.99563317e-01 2.33999863e-02 1.80448159e-02 2.45505404e+02] [-2.33845925e-02 9.99725977e-01 -1.06365048e-03 -9.87838303e+00] [-1.80647606e-02 6.41215341e-04 9.99836613e-01 -5.38616880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54439141799998 meters 0.02244518816308124 Centerline is valid? [True, True] Translation: X:245.57, Y:-9.87, Z:-5.39 [[ 9.99392157e-01 2.92082715e-02 1.90313755e-02 2.45566915e+02] [-2.91921921e-02 9.99573187e-01 -1.12220952e-03 -9.87125483e+00] [-1.90560305e-02 5.65959826e-04 9.99818257e-01 -5.38609971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60439141799998 meters 0.020194593199990896 Centerline is valid? [True, True] Translation: X:245.63, Y:-9.87, Z:-5.39 [[ 9.99265289e-01 3.34651812e-02 1.86805599e-02 2.45627590e+02] [-3.34504243e-02 9.99439770e-01 -1.10194897e-03 -9.86666989e+00] [-1.87069715e-02 4.76266703e-04 9.99824896e-01 -5.38734502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66439141799998 meters 0.018260564664161424 Centerline is valid? [True, True] Translation: X:245.69, Y:-9.86, Z:-5.39 [[ 9.99043321e-01 3.99169102e-02 1.78628994e-02 2.45686391e+02] [-3.99044432e-02 9.99202945e-01 -1.05395885e-03 -9.86153335e+00] [-1.78907325e-02 3.40141493e-04 9.99839890e-01 -5.38992503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72439141799998 meters 0.015672680589400374 Centerline is valid? [True, True] Translation: X:245.75, Y:-9.86, Z:-5.39 [[ 9.98841029e-01 4.49846217e-02 1.71167340e-02 2.45745737e+02] [-4.49739325e-02 9.98987651e-01 -1.00910011e-03 -9.85564216e+00] [-1.71447999e-02 2.38123757e-04 9.99852989e-01 -5.39119882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78439141799998 meters 0.014251504525844297 Centerline is valid? [True, True] Translation: X:245.81, Y:-9.85, Z:-5.39 [[ 9.98420452e-01 5.33669845e-02 1.75660354e-02 2.45805359e+02] [-5.33570496e-02 9.98574963e-01 -1.03409464e-03 -9.84746645e+00] [-1.75961897e-02 9.51894165e-05 9.99845171e-01 -5.39160600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844391418 meters 0.01396567714873744 Centerline is valid? [True, True] Translation: X:245.86, Y:-9.84, Z:-5.39 [[ 9.98082824e-01 5.89869094e-02 1.87408888e-02 2.45863452e+02] [-5.89766211e-02 9.98258756e-01 -1.10167126e-03 -9.84372387e+00] [-1.87732405e-02 -5.71513881e-06 9.99823767e-01 -5.39250174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90439141799996 meters 0.014127227101763385 Centerline is valid? [True, True] Translation: X:245.92, Y:-9.85, Z:-5.39 [[ 9.98048166e-01 5.94035954e-02 1.92632224e-02 2.45921624e+02] [-5.93928404e-02 9.98234047e-01 -1.13044467e-03 -9.84632299e+00] [-1.92963569e-02 -1.58592658e-05 9.99813808e-01 -5.39402909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96439141799996 meters 0.01433486717201406 Centerline is valid? [True, True] Translation: X:245.98, Y:-9.85, Z:-5.40 [[ 9.98225432e-01 5.63640141e-02 1.92115753e-02 2.45979669e+02] [-5.63527974e-02 9.98410285e-01 -1.12514892e-03 -9.85200863e+00] [-1.92444523e-02 4.05262548e-05 9.99814808e-01 -5.39551871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02439141799996 meters 0.015140538564671456 Centerline is valid? [True, True] Translation: X:246.04, Y:-9.86, Z:-5.40 [[ 9.98643825e-01 4.85494534e-02 1.88005582e-02 2.46038031e+02] [-4.85373690e-02 9.98820763e-01 -1.09881096e-03 -9.86253837e+00] [-1.88317346e-02 1.84791148e-04 9.99822650e-01 -5.39702785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08439141799997 meters 0.016616104687345506 Centerline is valid? [True, True] Translation: X:246.10, Y:-9.87, Z:-5.40 [[ 9.98931945e-01 4.22754317e-02 1.86482647e-02 2.46096545e+02] [-4.22624764e-02 9.99105950e-01 -1.08844148e-03 -9.87232503e+00] [-1.86776065e-02 2.99157118e-04 9.99825514e-01 -5.39869295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14439141799997 meters 0.020821265727233845 Centerline is valid? [True, True] Translation: X:246.16, Y:-9.89, Z:-5.40 [[ 9.99287327e-01 3.32791454e-02 1.78139488e-02 2.46156416e+02] [-3.32659242e-02 9.99445997e-01 -1.03807105e-03 -9.88743870e+00] [-1.78386260e-02 4.44733774e-04 9.99840780e-01 -5.40223677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20439141799997 meters 0.02297958894487066 Centerline is valid? [True, True] Translation: X:246.22, Y:-9.90, Z:-5.40 [[ 9.99502304e-01 2.64513152e-02 1.71892893e-02 2.46216301e+02] [-2.64379961e-02 9.99649953e-01 -1.00167031e-03 -9.89794734e+00] [-1.72097678e-02 5.46721417e-04 9.99851752e-01 -5.40378836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26439141799997 meters 0.02466238016778941 Centerline is valid? [True, True] Translation: X:246.28, Y:-9.91, Z:-5.41 [[ 9.99560784e-01 2.39303887e-02 1.74807140e-02 2.46276810e+02] [-2.39162350e-02 9.99713447e-01 -1.01830608e-03 -9.90510671e+00] [-1.75000733e-02 5.99785959e-04 9.99846682e-01 -5.40529062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32439141799998 meters 0.02491999313451015 Centerline is valid? [True, True] Translation: X:246.34, Y:-9.91, Z:-5.41 [[ 9.99561100e-01 2.39549431e-02 1.74289336e-02 2.46338405e+02] [-2.39408508e-02 9.99712860e-01 -1.01678731e-03 -9.90861696e+00] [-1.74482861e-02 5.99077545e-04 9.99847588e-01 -5.40667200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38439141799998 meters 0.025423121180754776 Centerline is valid? [True, True] Translation: X:246.40, Y:-9.91, Z:-5.41 [[ 9.99538518e-01 2.48855797e-02 1.74200763e-02 2.46398920e+02] [-2.48716361e-02 9.99690136e-01 -1.01666039e-03 -9.91143305e+00] [-1.74399786e-02 5.82925419e-04 9.99847742e-01 -5.40842127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44439141799998 meters 0.025605408692978386 Centerline is valid? [True, True] Translation: X:246.46, Y:-9.91, Z:-5.41 [[ 9.99549537e-01 2.49424794e-02 1.66912140e-02 2.46460256e+02] [-2.49296532e-02 9.99688731e-01 -9.76099346e-04 -9.91354666e+00] [-1.67103648e-02 5.59553474e-04 9.99860216e-01 -5.41048423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50439141799998 meters 0.02664487904756463 Centerline is valid? [True, True] Translation: X:246.52, Y:-9.92, Z:-5.41 [[ 9.99579734e-01 2.43258905e-02 1.57672426e-02 2.46520210e+02] [-2.43143579e-02 9.99703936e-01 -9.22743107e-04 -9.91733840e+00] [-1.57850210e-02 5.38984930e-04 9.99875264e-01 -5.41318474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56439141799999 meters 0.024251937081886714 Centerline is valid? [True, True] Translation: X:246.58, Y:-9.92, Z:-5.41 [[ 9.99598251e-01 2.40263604e-02 1.50356289e-02 2.46580933e+02] [-2.40158335e-02 9.99711191e-01 -8.80321614e-04 -9.91537693e+00] [-1.50524374e-02 5.18874785e-04 9.99886571e-01 -5.41496744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624391418 meters 0.023441430691415136 Centerline is valid? [True, True] Translation: X:246.64, Y:-9.91, Z:-5.42 [[ 9.99520124e-01 2.72865983e-02 1.46616101e-02 2.46640875e+02] [-2.72769446e-02 9.99627547e-01 -8.58039502e-04 -9.91452332e+00] [-1.46795623e-02 4.57703823e-04 9.99892145e-01 -5.41639007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68439141799996 meters 0.019523033484620412 Centerline is valid? [True, True] Translation: X:246.70, Y:-9.91, Z:-5.42 [[ 9.99255042e-01 3.50345771e-02 1.61845717e-02 2.46701654e+02] [-3.50238062e-02 9.99386028e-01 -9.48552246e-04 -9.90749701e+00] [-1.62078670e-02 3.81000311e-04 9.99868571e-01 -5.41587077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74439141799996 meters 0.016513548594610267 Centerline is valid? [True, True] Translation: X:246.76, Y:-9.90, Z:-5.42 [[ 9.98834146e-01 4.48676870e-02 1.78112075e-02 2.46761567e+02] [-4.48562097e-02 9.98992909e-01 -1.04356776e-03 -9.90065850e+00] [-1.78400924e-02 2.43407857e-04 9.99840823e-01 -5.41614978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80439141799997 meters 0.01495988922288809 Centerline is valid? [True, True] Translation: X:246.82, Y:-9.90, Z:-5.42 [[ 9.98563852e-01 5.04074489e-02 1.81472698e-02 2.46820352e+02] [-5.03964592e-02 9.98728726e-01 -1.06268781e-03 -9.89770331e+00] [-1.81777670e-02 1.46603486e-04 9.99834760e-01 -5.41677355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86439141799997 meters 0.014708918355168424 Centerline is valid? [True, True] Translation: X:246.88, Y:-9.90, Z:-5.42 [[ 9.98376491e-01 5.39282194e-02 1.83338249e-02 2.46879165e+02] [-5.39176231e-02 9.98544811e-01 -1.07213416e-03 -9.89767005e+00] [-1.83649640e-02 8.18772775e-05 9.99831346e-01 -5.41821436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92439141799997 meters 0.014439233542118133 Centerline is valid? [True, True] Translation: X:246.94, Y:-9.90, Z:-5.42 [[ 9.98270757e-01 5.60143443e-02 1.78294383e-02 2.46937301e+02] [-5.60046788e-02 9.98429963e-01 -1.04134618e-03 -9.89895216e+00] [-1.78597758e-02 4.10134741e-05 9.99840501e-01 -5.42041136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98439141799997 meters 0.014513579961892453 Centerline is valid? [True, True] Translation: X:247.00, Y:-9.90, Z:-5.42 [[ 9.98309505e-01 5.56496409e-02 1.67705191e-02 2.46995934e+02] [-5.56410647e-02 9.98450357e-01 -9.77909956e-04 -9.90334422e+00] [-1.67989512e-02 4.31272632e-05 9.99858887e-01 -5.42265787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04439141799998 meters 0.014967299867890327 Centerline is valid? [True, True] Translation: X:247.05, Y:-9.91, Z:-5.42 [[ 9.98487921e-01 5.22855803e-02 1.69731903e-02 2.47054120e+02] [-5.22763335e-02 9.98632169e-01 -9.88312271e-04 -9.91055420e+00] [-1.70016484e-02 9.95217056e-05 9.99855457e-01 -5.42450404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10439141799998 meters 0.015461681281611137 Centerline is valid? [True, True] Translation: X:247.11, Y:-9.92, Z:-5.43 [[ 9.98660142e-01 4.88096175e-02 1.71913511e-02 2.47111384e+02] [-4.87996392e-02 9.98808088e-01 -9.99694157e-04 -9.91825287e+00] [-1.72196552e-02 1.59422976e-04 9.99851718e-01 -5.42645044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16439141799998 meters 0.01704921717749135 Centerline is valid? [True, True] Translation: X:247.17, Y:-9.93, Z:-5.43 [[ 9.98963998e-01 4.16265686e-02 1.83891207e-02 2.47169805e+02] [-4.16139719e-02 9.99133193e-01 -1.06729731e-03 -9.92985051e+00] [-1.84176088e-02 3.00947236e-04 9.99830336e-01 -5.42701562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22439141799998 meters 0.019389210929124944 Centerline is valid? [True, True] Translation: X:247.23, Y:-9.94, Z:-5.43 [[ 9.99186502e-01 3.54480190e-02 1.92294526e-02 2.47229177e+02] [-3.54331337e-02 9.99371428e-01 -1.11435287e-03 -9.94041646e+00] [-1.92568671e-02 4.32086585e-04 9.99814476e-01 -5.42769756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28439141799998 meters 0.02405743767469628 Centerline is valid? [True, True] Translation: X:247.29, Y:-9.96, Z:-5.43 [[ 9.99515833e-01 2.43529891e-02 1.93657054e-02 2.47288341e+02] [-2.43358276e-02 9.99703211e-01 -1.12138119e-03 -9.95559285e+00] [-1.93872668e-02 6.49557791e-04 9.99811838e-01 -5.42895695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344391418 meters 0.027397675118539015 Centerline is valid? [True, True] Translation: X:247.35, Y:-9.97, Z:-5.43 [[ 9.99688529e-01 1.62700961e-02 1.89242841e-02 2.47348465e+02] [-1.62522634e-02 9.99867323e-01 -1.09574353e-03 -9.96723102e+00] [-1.89396011e-02 7.87839791e-04 9.99820319e-01 -5.43103411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40439141799996 meters 0.030973006737502858 Centerline is valid? [True, True] Translation: X:247.41, Y:-9.98, Z:-5.43 [[ 9.99807717e-01 6.63568065e-03 1.84525383e-02 2.47409207e+02] [-6.61708943e-03 9.99977536e-01 -1.06838977e-03 -9.97985508e+00] [-1.84592132e-02 9.46082243e-04 9.99829167e-01 -5.43316424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46439141799996 meters 0.034612656211353225 Centerline is valid? [True, True] Translation: X:247.47, Y:-9.99, Z:-5.43 [[ 9.99840756e-01 2.28381979e-03 1.76988013e-02 2.47468728e+02] [-2.26602423e-03 9.99996907e-01 -1.02545611e-03 -9.99029334e+00] [-1.77010885e-02 9.85186899e-04 9.99842838e-01 -5.43494065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52439141799996 meters 0.03407380748124624 Centerline is valid? [True, True] Translation: X:247.53, Y:-9.99, Z:-5.44 [[ 9.99864174e-01 3.78080981e-03 1.60417713e-02 2.47531307e+02] [-3.76639269e-03 9.99992476e-01 -9.28840572e-04 -9.99252170e+00] [-1.60451624e-02 8.68294801e-04 9.99870891e-01 -5.43757350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58439141799997 meters 0.03288098434478409 Centerline is valid? [True, True] Translation: X:247.59, Y:-9.99, Z:-5.44 [[ 9.99859198e-01 7.44519408e-03 1.50383607e-02 2.47592941e+02] [-7.43291224e-03 9.99971995e-01 -8.72428983e-04 -9.99324512e+00] [-1.50444350e-02 7.60527329e-04 9.99886537e-01 -5.43985546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64439141799997 meters 0.028228945294307167 Centerline is valid? [True, True] Translation: X:247.65, Y:-9.99, Z:-5.44 [[ 9.99762657e-01 1.62067791e-02 1.45591890e-02 2.47653651e+02] [-1.61961758e-02 9.99868476e-01 -8.45908123e-04 -9.98658598e+00] [-1.45709835e-02 6.09904168e-04 9.99893652e-01 -5.44104234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70439141799997 meters 0.025225257453799242 Centerline is valid? [True, True] Translation: X:247.71, Y:-9.98, Z:-5.44 [[ 9.99599507e-01 2.40356720e-02 1.49369359e-02 2.47713812e+02] [-2.40253826e-02 9.99710972e-01 -8.67948532e-04 -9.98272562e+00] [-1.49534805e-02 5.08735324e-04 9.99888061e-01 -5.44203851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76439141799997 meters 0.01853110045741415 Centerline is valid? [True, True] Translation: X:247.77, Y:-9.97, Z:-5.44 [[ 9.99153237e-01 3.84817113e-02 1.45590530e-02 2.47774606e+02] [-3.84734697e-02 9.99259264e-01 -8.45847028e-04 -9.96957292e+00] [-1.45808182e-02 2.84993512e-04 9.99893654e-01 -5.44347646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82439141799998 meters 0.014130994911746493 Centerline is valid? [True, True] Translation: X:247.84, Y:-9.96, Z:-5.44 [[ 9.98404856e-01 5.45188016e-02 1.46780258e-02 2.47835538e+02] [-5.45121632e-02 9.98512743e-01 -8.52271088e-04 -9.95605513e+00] [-1.47026606e-02 5.07806527e-05 9.99891909e-01 -5.44389107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88439141799998 meters 0.014261939179047962 Centerline is valid? [True, True] Translation: X:247.89, Y:-9.95, Z:-5.45 [[ 9.98114127e-01 5.95807792e-02 1.47756570e-02 2.47893264e+02] [-5.95746027e-02 9.98223487e-01 -8.58207141e-04 -9.95466448e+00] [-1.48005405e-02 -2.36652249e-05 9.99890466e-01 -5.44562561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94439141799998 meters 0.0156381453061478 Centerline is valid? [True, True] Translation: X:247.95, Y:-9.95, Z:-5.45 [[ 9.97545042e-01 6.85752818e-02 1.41887596e-02 2.47952557e+02] [-6.85705164e-02 9.97645933e-01 -8.22654315e-04 -9.94961504e+00] [-1.42117721e-02 -1.52295839e-04 9.99898996e-01 -5.44754127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00439141799998 meters 0.01824097157005275 Centerline is valid? [True, True] Translation: X:248.01, Y:-9.94, Z:-5.45 [[ 9.96832054e-01 7.85275595e-02 1.26205619e-02 2.48011928e+02] [-7.85245984e-02 9.96911909e-01 -7.30757219e-04 -9.94474889e+00] [-1.26389731e-02 -2.62582337e-04 9.99920091e-01 -5.44935803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06439141799999 meters 0.019451318981762285 Centerline is valid? [True, True] Translation: X:248.07, Y:-9.95, Z:-5.45 [[ 9.96575791e-01 8.17237049e-02 1.25670004e-02 2.48070870e+02] [-8.17210057e-02 9.96654978e-01 -7.29003476e-04 -9.94596919e+00] [-1.25845403e-02 -3.00480693e-04 9.99920766e-01 -5.45078581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124391418 meters 0.019233162347843332 Centerline is valid? [True, True] Translation: X:248.13, Y:-9.95, Z:-5.45 [[ 9.96756062e-01 7.92571693e-02 1.39876690e-02 2.48128446e+02] [-7.92536690e-02 9.96854156e-01 -8.05250123e-04 -9.95095178e+00] [-1.40074878e-02 -3.05936148e-04 9.99901844e-01 -5.45102995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18439141799996 meters 0.01747967999808946 Centerline is valid? [True, True] Translation: X:248.19, Y:-9.96, Z:-5.45 [[ 9.97148758e-01 7.41397734e-02 1.40587402e-02 2.48187021e+02] [-7.41357510e-02 9.97247832e-01 -8.07766513e-04 -9.95946788e+00] [-1.40799359e-02 -2.36791891e-04 9.99900845e-01 -5.45204200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24439141799996 meters 0.014571105512930456 Centerline is valid? [True, True] Translation: X:248.25, Y:-9.98, Z:-5.45 [[ 9.98022977e-01 6.12038431e-02 1.42908332e-02 2.48245826e+02] [-6.11983807e-02 9.98125286e-01 -8.19643197e-04 -9.97538787e+00] [-1.43142073e-02 -5.65531049e-05 9.99897545e-01 -5.45356157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30439141799997 meters 0.014729168552519815 Centerline is valid? [True, True] Translation: X:248.30, Y:-9.99, Z:-5.46 [[ 9.98635775e-01 5.02005359e-02 1.43699316e-02 2.48302487e+02] [-5.01938706e-02 9.98739153e-01 -8.24350029e-04 -9.99058341e+00] [-1.43931962e-02 1.01942940e-04 9.99896407e-01 -5.45559107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36439141799997 meters 0.020460695368487762 Centerline is valid? [True, True] Translation: X:248.36, Y:-10.01, Z:-5.46 [[ 9.99384168e-01 3.21754251e-02 1.40009475e-02 2.48361592e+02] [-3.21673680e-02 9.99482176e-01 -8.00349089e-04 -1.00137325e+01] [-1.40194490e-02 3.49482578e-04 9.99901662e-01 -5.45746556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42439141799997 meters 0.026869124313100335 Centerline is valid? [True, True] Translation: X:248.42, Y:-10.03, Z:-5.46 [[ 9.99768250e-01 1.69504897e-02 1.32712810e-02 2.48421161e+02] [-1.69419107e-02 9.99856188e-01 -7.58598550e-04 -1.00315383e+01] [-1.32822310e-02 5.33581888e-04 9.99911645e-01 -5.45916123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48439141799997 meters 0.031639840663667304 Centerline is valid? [True, True] Translation: X:248.48, Y:-10.05, Z:-5.46 [[ 9.99871432e-01 8.95907002e-03 1.32986417e-02 2.48481177e+02] [-8.94975454e-03 9.99959661e-01 -7.59831933e-04 -1.00454815e+01] [-1.33049126e-02 6.40714664e-04 9.99911280e-01 -5.46093461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54439141799998 meters 0.0324137025589869 Centerline is valid? [True, True] Translation: X:248.54, Y:-10.05, Z:-5.46 [[ 9.99887805e-01 6.88004296e-03 1.33056973e-02 2.48543394e+02] [-6.87054222e-03 9.99976109e-01 -7.59614716e-04 -1.00513787e+01] [-1.33106055e-02 6.68112137e-04 9.99911187e-01 -5.46211328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60439141799998 meters 0.033842662015193245 Centerline is valid? [True, True] Translation: X:248.61, Y:-10.06, Z:-5.46 [[ 9.99896629e-01 7.18893975e-03 1.24519102e-02 2.48605492e+02] [-7.18064606e-03 9.99973966e-01 -7.10638576e-04 -1.00573734e+01] [-1.24566948e-02 6.21152357e-04 9.99922219e-01 -5.46484900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66439141799998 meters 0.033674090708711385 Centerline is valid? [True, True] Translation: X:248.67, Y:-10.06, Z:-5.47 [[ 9.99902348e-01 8.82605695e-03 1.08349389e-02 2.48667892e+02] [-8.81986517e-03 9.99960913e-01 -6.19114827e-04 -1.00600219e+01] [-1.08399797e-02 5.23491669e-04 9.99941109e-01 -5.46804885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72439141799998 meters 0.03185444500005967 Centerline is valid? [True, True] Translation: X:248.73, Y:-10.06, Z:-5.47 [[ 9.99893068e-01 1.01320500e-02 1.05448598e-02 2.48730590e+02] [-1.01262299e-02 9.99948545e-01 -6.05181785e-04 -1.00600795e+01] [-1.05504490e-02 4.98337397e-04 9.99944218e-01 -5.46968402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78439141799998 meters 0.0299402220017224 Centerline is valid? [True, True] Translation: X:248.79, Y:-10.06, Z:-5.47 [[ 9.99867343e-01 1.31981024e-02 9.54498041e-03 2.48792211e+02] [-1.31934251e-02 9.99912810e-01 -5.52828020e-04 -1.00580928e+01] [-9.55144446e-03 4.26823699e-04 9.99954293e-01 -5.47146093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844391418 meters 0.025852855099043486 Centerline is valid? [True, True] Translation: X:248.85, Y:-10.05, Z:-5.47 [[ 9.99783715e-01 1.88590851e-02 8.76689970e-03 2.48853742e+02] [-1.88553518e-02 9.99822093e-01 -5.08301682e-04 -1.00511483e+01] [-8.77492611e-03 3.42888766e-04 9.99961441e-01 -5.47248784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90439141799996 meters 0.022639995168709796 Centerline is valid? [True, True] Translation: X:248.91, Y:-10.05, Z:-5.47 [[ 9.99666259e-01 2.42998997e-02 8.76841963e-03 2.48913777e+02] [-2.42963654e-02 9.99704670e-01 -5.09383287e-04 -1.00465065e+01] [-8.77820801e-03 2.96172558e-04 9.99961427e-01 -5.47281091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96439141799996 meters 0.01970325962152126 Centerline is valid? [True, True] Translation: X:248.97, Y:-10.04, Z:-5.47 [[ 9.99432487e-01 3.20310569e-02 1.04266875e-02 2.48974029e+02] [-3.20264884e-02 9.99486837e-01 -6.04872424e-04 -1.00392878e+01] [-1.04407117e-02 2.70598963e-04 9.99945458e-01 -5.47178268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02439141799996 meters 0.01808039288116453 Centerline is valid? [True, True] Translation: X:249.03, Y:-10.03, Z:-5.47 [[ 9.99256573e-01 3.70915079e-02 1.05128895e-02 2.49033213e+02] [-3.70871384e-02 9.99311849e-01 -6.10347032e-04 -1.00348045e+01] [-1.05282937e-02 2.20000297e-04 9.99944552e-01 -5.47123233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08439141799997 meters 0.017764764699159597 Centerline is valid? [True, True] Translation: X:249.09, Y:-10.04, Z:-5.47 [[ 9.99241658e-01 3.76418215e-02 9.95998022e-03 2.49091705e+02] [-3.76379339e-02 9.99291275e-01 -5.77545563e-04 -1.00352827e+01] [-9.97466120e-03 2.02234510e-04 9.99950231e-01 -5.47179727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14439141799997 meters 0.018667012253665044 Centerline is valid? [True, True] Translation: X:249.15, Y:-10.04, Z:-5.47 [[ 9.99309397e-01 3.60416585e-02 9.04033477e-03 2.49150265e+02] [-3.60383954e-02 9.99350269e-01 -5.23640672e-04 -1.00375645e+01] [-9.05333386e-03 1.97479885e-04 9.99958998e-01 -5.47298836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20439141799997 meters 0.019218562874653438 Centerline is valid? [True, True] Translation: X:249.21, Y:-10.04, Z:-5.47 [[ 9.99363607e-01 3.46183400e-02 8.59950009e-03 2.49209054e+02] [-3.46153399e-02 9.99400586e-01 -4.97504654e-04 -1.00410233e+01] [-8.61156821e-03 1.99513427e-04 9.99962900e-01 -5.47367165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26439141799997 meters 0.020901555210073364 Centerline is valid? [True, True] Translation: X:249.27, Y:-10.05, Z:-5.47 [[ 9.99484057e-01 3.10071944e-02 8.37700574e-03 2.49266943e+02] [-3.10042240e-02 9.99519136e-01 -4.84249567e-04 -1.00469364e+01] [-8.38799277e-03 2.24277159e-04 9.99964795e-01 -5.47344911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32439141799998 meters 0.021234633009918288 Centerline is valid? [True, True] Translation: X:249.33, Y:-10.05, Z:-5.47 [[ 9.99592274e-01 2.74905652e-02 7.71720885e-03 2.49326839e+02] [-2.74879503e-02 9.99622036e-01 -4.44715128e-04 -1.00503720e+01] [-7.72651749e-03 2.32403553e-04 9.99970123e-01 -5.47192301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38439141799998 meters 0.02228525209151509 Centerline is valid? [True, True] Translation: X:249.39, Y:-10.06, Z:-5.47 [[ 9.99640067e-01 2.58400934e-02 7.21286382e-03 2.49385630e+02] [-2.58377637e-02 9.99666063e-01 -4.16001280e-04 -1.00560740e+01] [-7.22120469e-03 2.29487277e-04 9.99973900e-01 -5.47291924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44439141799998 meters 0.02419155732306365 Centerline is valid? [True, True] Translation: X:249.44, Y:-10.06, Z:-5.47 [[ 9.99640963e-01 2.57907914e-02 7.26497104e-03 2.49443411e+02] [-2.57884282e-02 9.99667335e-01 -4.18787933e-04 -1.00618167e+01] [-7.27335512e-03 2.31285389e-04 9.99973522e-01 -5.47407766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50439141799998 meters 0.020601710371821954 Centerline is valid? [True, True] Translation: X:249.50, Y:-10.06, Z:-5.47 [[ 9.99539661e-01 2.93910176e-02 7.52552616e-03 2.49502552e+02] [-2.93885932e-02 9.99567968e-01 -4.32559400e-04 -1.00589387e+01] [-7.53498826e-03 2.11195649e-04 9.99971589e-01 -5.47201263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56439141799999 meters 0.018461758805804186 Centerline is valid? [True, True] Translation: X:249.56, Y:-10.06, Z:-5.47 [[ 9.99329162e-01 3.60001723e-02 6.72408898e-03 2.49562968e+02] [-3.59983912e-02 9.99351773e-01 -3.85760426e-04 -1.00578858e+01] [-6.73361769e-03 1.43445257e-04 9.99977319e-01 -5.47365055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62439141799996 meters 0.018066062507332073 Centerline is valid? [True, True] Translation: X:249.62, Y:-10.06, Z:-5.48 [[ 9.99150495e-01 4.07061219e-02 6.42649345e-03 2.49621161e+02] [-4.07045921e-02 9.99171157e-01 -3.68722546e-04 -1.00605601e+01] [-6.43617616e-03 1.06821520e-04 9.99979282e-01 -5.47720405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68439141799996 meters 0.015473626424398383 Centerline is valid? [True, True] Translation: X:249.68, Y:-10.06, Z:-5.48 [[ 9.98807239e-01 4.83031918e-02 7.13447500e-03 2.49680569e+02] [-4.83015074e-02 9.98832718e-01 -4.08310693e-04 -1.00581912e+01] [-7.14586976e-03 6.32177785e-05 9.99974466e-01 -5.47708222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74439141799996 meters 0.015005252457920417 Centerline is valid? [True, True] Translation: X:249.74, Y:-10.06, Z:-5.48 [[ 9.98726698e-01 4.99560291e-02 7.02699642e-03 2.49738929e+02] [-4.99544364e-02 9.98751417e-01 -4.02087644e-04 -1.00605168e+01] [-7.03830933e-03 5.05460191e-05 9.99975230e-01 -5.47794029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80439141799997 meters 0.015382652230926759 Centerline is valid? [True, True] Translation: X:249.80, Y:-10.06, Z:-5.48 [[ 9.98616675e-01 5.20629156e-02 7.36127848e-03 2.49796211e+02] [-5.20612231e-02 9.98643806e-01 -4.21475796e-04 -1.00637479e+01] [-7.37323842e-03 3.76555963e-05 9.99972817e-01 -5.48103452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86439141799997 meters 0.014952670702003882 Centerline is valid? [True, True] Translation: X:249.85, Y:-10.07, Z:-5.48 [[ 9.98678952e-01 5.08443663e-02 7.42981436e-03 2.49854666e+02] [-5.08426243e-02 9.98706588e-01 -4.23269362e-04 -1.00709741e+01] [-7.44172541e-03 4.49589426e-05 9.99972309e-01 -5.48307510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92439141799997 meters 0.015291005437292662 Centerline is valid? [True, True] Translation: X:249.91, Y:-10.08, Z:-5.48 [[ 9.98833944e-01 4.76611519e-02 7.69195989e-03 2.49912760e+02] [-4.76591953e-02 9.98863559e-01 -4.37570384e-04 -1.00782801e+01] [-7.70407354e-03 7.04675341e-05 9.99970321e-01 -5.48417201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98439141799997 meters 0.01611931543020624 Centerline is valid? [True, True] Translation: X:249.97, Y:-10.09, Z:-5.48 [[ 9.99025415e-01 4.31691941e-02 9.20000620e-03 2.49970945e+02] [-4.31662148e-02 9.99067768e-01 -5.22258599e-04 -1.00870280e+01] [-9.21397514e-03 1.24620170e-04 9.99957543e-01 -5.48490978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04439141799998 meters 0.01840743240730776 Centerline is valid? [True, True] Translation: X:250.03, Y:-10.10, Z:-5.48 [[ 9.99280189e-01 3.59891227e-02 1.19952633e-02 2.50028194e+02] [-3.59835563e-02 9.99352151e-01 -6.79618213e-04 -1.00999664e+01] [-1.20119510e-02 2.47496785e-04 9.99927823e-01 -5.48496293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10439141799998 meters 0.02050616686361573 Centerline is valid? [True, True] Translation: X:250.09, Y:-10.11, Z:-5.49 [[ 9.99494011e-01 2.93079386e-02 1.23599089e-02 2.50087169e+02] [-2.93015409e-02 9.99570374e-01 -6.98422026e-04 -1.01105257e+01] [-1.23750681e-02 3.35904254e-04 9.99923369e-01 -5.48679438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16439141799998 meters 0.023670636611355007 Centerline is valid? [True, True] Translation: X:250.15, Y:-10.12, Z:-5.49 [[ 9.99653161e-01 2.29187672e-02 1.29726155e-02 2.50146536e+02] [-2.29111917e-02 9.99737236e-01 -7.32298342e-04 -1.01207366e+01] [-1.29859902e-02 4.34826271e-04 9.99915584e-01 -5.48818703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22439141799998 meters 0.02529239159405584 Centerline is valid? [True, True] Translation: X:250.21, Y:-10.13, Z:-5.49 [[ 9.99718970e-01 1.94998629e-02 1.34809305e-02 2.50206633e+02] [-1.94913777e-02 9.99809736e-01 -7.60535669e-04 -1.01282157e+01] [-1.34931959e-02 4.97560029e-04 9.99908839e-01 -5.48928849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28439141799998 meters 0.025839845912293116 Centerline is valid? [True, True] Translation: X:250.27, Y:-10.13, Z:-5.49 [[ 9.99774153e-01 1.63257002e-02 1.36056682e-02 2.50267259e+02] [-1.63167637e-02 9.99866578e-01 -7.67572830e-04 -1.01325095e+01] [-1.36163840e-02 5.45399003e-04 9.99907144e-01 -5.48991488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344391418 meters 0.026411825123819208 Centerline is valid? [True, True] Translation: X:250.33, Y:-10.14, Z:-5.49 [[ 9.99785816e-01 1.63040540e-02 1.27475325e-02 2.50328908e+02] [-1.62962124e-02 9.99866950e-01 -7.18784706e-04 -1.01364799e+01] [-1.27575555e-02 5.10894257e-04 9.99918489e-01 -5.49213380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40439141799996 meters 0.026434891989758565 Centerline is valid? [True, True] Translation: X:250.39, Y:-10.14, Z:-5.49 [[ 9.99765583e-01 1.79200789e-02 1.21511005e-02 2.50390457e+02] [-1.79130676e-02 9.99839313e-01 -6.85612150e-04 -1.01389576e+01] [-1.21614342e-02 4.67787947e-04 9.99925938e-01 -5.49470654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46439141799996 meters 0.02452816876319309 Centerline is valid? [True, True] Translation: X:250.45, Y:-10.14, Z:-5.50 [[ 9.99703264e-01 2.11887096e-02 1.20175724e-02 2.50451160e+02] [-2.11820769e-02 9.99775404e-01 -6.78945762e-04 -1.01384880e+01] [-1.20292593e-02 4.24187151e-04 9.99927556e-01 -5.49574567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52439141799996 meters 0.02382359584126737 Centerline is valid? [True, True] Translation: X:250.51, Y:-10.14, Z:-5.50 [[ 9.99635156e-01 2.40662921e-02 1.22624565e-02 2.50510644e+02] [-2.40595978e-02 9.99710286e-01 -6.93163361e-04 -1.01384963e+01] [-1.22755858e-02 3.97880693e-04 9.99924573e-01 -5.49631095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58439141799997 meters 0.021414075539588212 Centerline is valid? [True, True] Translation: X:250.57, Y:-10.14, Z:-5.50 [[ 9.99526878e-01 2.81631814e-02 1.23634323e-02 2.50570846e+02] [-2.81566979e-02 9.99603278e-01 -6.98192251e-04 -1.01356805e+01] [-1.23781907e-02 3.49748494e-04 9.99923326e-01 -5.49629129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64439141799997 meters 0.020639369588419044 Centerline is valid? [True, True] Translation: X:250.63, Y:-10.14, Z:-5.50 [[ 9.99481682e-01 2.98462558e-02 1.20651633e-02 2.50629542e+02] [-2.98401995e-02 9.99554450e-01 -6.81713838e-04 -1.01362228e+01] [-1.20801343e-02 3.21333614e-04 9.99926981e-01 -5.49779691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70439141799997 meters 0.020333672803321063 Centerline is valid? [True, True] Translation: X:250.69, Y:-10.14, Z:-5.50 [[ 9.99481797e-01 3.03288638e-02 1.07840855e-02 2.50687889e+02] [-3.03240606e-02 9.99539935e-01 -6.08667397e-04 -1.01374851e+01] [-1.07975843e-02 2.81334722e-04 9.99941665e-01 -5.49951885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76439141799997 meters 0.020320274267204647 Centerline is valid? [True, True] Translation: X:250.75, Y:-10.14, Z:-5.50 [[ 9.99481629e-01 3.04632095e-02 1.04147113e-02 2.50746199e+02] [-3.04587452e-02 9.99535852e-01 -5.87037496e-04 -1.01394851e+01] [-1.04277604e-02 2.69514154e-04 9.99945593e-01 -5.50078968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82439141799998 meters 0.020055446956063237 Centerline is valid? [True, True] Translation: X:250.81, Y:-10.14, Z:-5.50 [[ 9.99433815e-01 3.17580723e-02 1.11118941e-02 2.50805290e+02] [-3.17530815e-02 9.99495548e-01 -6.25314315e-04 -1.01403880e+01] [-1.11261475e-02 2.72123392e-04 9.99938065e-01 -5.50101746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88439141799998 meters 0.018704239125892076 Centerline is valid? [True, True] Translation: X:250.86, Y:-10.14, Z:-5.50 [[ 9.99365610e-01 3.37052577e-02 1.15035744e-02 2.50864136e+02] [-3.37000489e-02 9.99431783e-01 -6.46399009e-04 -1.01393528e+01] [-1.15188249e-02 2.58317920e-04 9.99933623e-01 -5.50160645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94439141799998 meters 0.01900754735376758 Centerline is valid? [True, True] Translation: X:250.92, Y:-10.14, Z:-5.50 [[ 9.99341493e-01 3.42528649e-02 1.19716663e-02 2.50922054e+02] [-3.42472731e-02 9.99413164e-01 -6.71838744e-04 -1.01410601e+01] [-1.19876533e-02 2.61399408e-04 9.99928111e-01 -5.50285848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00439141799998 meters 0.01926173474372801 Centerline is valid? [True, True] Translation: X:250.98, Y:-10.14, Z:-5.50 [[ 9.99332278e-01 3.40165379e-02 1.33368791e-02 2.50981028e+02] [-3.40096005e-02 9.99421227e-01 -7.46687853e-04 -1.01435833e+01] [-1.33545598e-02 2.92607344e-04 9.99910781e-01 -5.50367942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06439141799999 meters 0.02134252040494276 Centerline is valid? [True, True] Translation: X:251.04, Y:-10.15, Z:-5.51 [[ 9.99390515e-01 3.24576011e-02 1.28492129e-02 2.51038905e+02] [-3.24510432e-02 9.99473068e-01 -7.18594694e-04 -1.01475871e+01] [-1.28657661e-02 3.01186359e-04 9.99917187e-01 -5.50578289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12439141799996 meters 0.020481333193014446 Centerline is valid? [True, True] Translation: X:251.10, Y:-10.15, Z:-5.51 [[ 9.99442043e-01 3.06649300e-02 1.32387342e-02 2.51097993e+02] [-3.06578311e-02 9.99529665e-01 -7.38880241e-04 -1.01495624e+01] [-1.32551653e-02 3.32597099e-04 9.99912091e-01 -5.50672130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18439141799996 meters 0.020982988029932616 Centerline is valid? [True, True] Translation: X:251.16, Y:-10.15, Z:-5.51 [[ 9.99474570e-01 3.00353954e-02 1.21843406e-02 2.51156465e+02] [-3.00293459e-02 9.99548787e-01 -6.79184536e-04 -1.01520832e+01] [-1.21992425e-02 3.12939893e-04 9.99925538e-01 -5.50970481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24439141799996 meters 0.021211422100531847 Centerline is valid? [True, True] Translation: X:251.21, Y:-10.15, Z:-5.51 [[ 9.99487389e-01 3.01624068e-02 1.07326325e-02 2.51214670e+02] [-3.01577251e-02 9.99544974e-01 -5.97823667e-04 -1.01541902e+01] [-1.07457807e-02 2.73845434e-04 9.99942225e-01 -5.51328145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30439141799997 meters 0.020470752233856176 Centerline is valid? [True, True] Translation: X:251.27, Y:-10.15, Z:-5.51 [[ 9.99452914e-01 3.14141945e-02 1.03451308e-02 2.51273754e+02] [-3.14099238e-02 9.99506421e-01 -5.75079089e-04 -1.01534934e+01] [-1.03580903e-02 2.49824703e-04 9.99946322e-01 -5.51469850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36439141799997 meters 0.01918748974514483 Centerline is valid? [True, True] Translation: X:251.33, Y:-10.15, Z:-5.52 [[ 9.99285755e-01 3.62543211e-02 1.06585330e-02 2.51331470e+02] [-3.62500703e-02 9.99342575e-01 -5.91802186e-04 -1.01506327e+01] [-1.06729812e-02 2.05006925e-04 9.99943021e-01 -5.51565451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42439141799997 meters 0.0168816011269056 Centerline is valid? [True, True] Translation: X:251.39, Y:-10.15, Z:-5.52 [[ 9.98977777e-01 4.36298305e-02 1.18253428e-02 2.51390775e+02] [-4.36251333e-02 9.99047756e-01 -6.54995331e-04 -1.01452974e+01] [-1.18426595e-02 1.38443622e-04 9.99929864e-01 -5.51532561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48439141799997 meters 0.016042248007526124 Centerline is valid? [True, True] Translation: X:251.45, Y:-10.14, Z:-5.52 [[ 9.98758119e-01 4.82835126e-02 1.22850582e-02 2.51449426e+02] [-4.82788078e-02 9.98833667e-01 -6.79421289e-04 -1.01438928e+01] [-1.23035345e-02 8.54695668e-05 9.99924305e-01 -5.51599254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54439141799998 meters 0.015481300597872236 Centerline is valid? [True, True] Translation: X:251.51, Y:-10.14, Z:-5.52 [[ 9.98461721e-01 5.41538543e-02 1.18975836e-02 2.51507995e+02] [-5.41498688e-02 9.98532603e-01 -6.57104813e-04 -1.01417374e+01] [-1.19157099e-02 1.18414111e-05 9.99929005e-01 -5.51717089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60439141799998 meters 0.015403411879824804 Centerline is valid? [True, True] Translation: X:251.57, Y:-10.14, Z:-5.52 [[ 9.98327934e-01 5.68553402e-02 1.04310480e-02 2.51566601e+02] [-5.68524302e-02 9.98382427e-01 -5.75522598e-04 -1.01429635e+01] [-1.04468965e-02 -1.84701406e-05 9.99945430e-01 -5.51903430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66439141799998 meters 0.015664812735866136 Centerline is valid? [True, True] Translation: X:251.62, Y:-10.15, Z:-5.52 [[ 9.98256666e-01 5.82501525e-02 9.51573822e-03 2.51624524e+02] [-5.82477978e-02 9.98302018e-01 -5.24638755e-04 -1.01453995e+01] [-9.53014096e-03 -3.05466619e-05 9.99954587e-01 -5.52140083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72439141799998 meters 0.01545792007211808 Centerline is valid? [True, True] Translation: X:251.68, Y:-10.15, Z:-5.52 [[ 9.98215259e-01 5.88627762e-02 1.00732527e-02 2.51683023e+02] [-5.88601825e-02 9.98266083e-01 -5.54010169e-04 -1.01497256e+01] [-1.00883971e-02 -3.98920896e-05 9.99949110e-01 -5.52108120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78439141799998 meters 0.015662476697357236 Centerline is valid? [True, True] Translation: X:251.74, Y:-10.15, Z:-5.52 [[ 9.98231057e-01 5.86031282e-02 1.00215280e-02 2.51740472e+02] [-5.86005513e-02 9.98281359e-01 -5.50841348e-04 -1.01544277e+01] [-1.00365856e-02 -3.74001265e-05 9.99949632e-01 -5.52227548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844391418 meters 0.015496722621183982 Centerline is valid? [True, True] Translation: X:251.80, Y:-10.16, Z:-5.52 [[ 9.98230761e-01 5.85125189e-02 1.05656954e-02 2.51798630e+02] [-5.85096684e-02 9.98286674e-01 -5.78957555e-04 -1.01612372e+01] [-1.05814692e-02 -4.02620927e-05 9.99944014e-01 -5.52242992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90439141799996 meters 0.015567095197024152 Centerline is valid? [True, True] Translation: X:251.86, Y:-10.17, Z:-5.52 [[ 9.98269769e-01 5.77761755e-02 1.09262123e-02 2.51856384e+02] [-5.77730912e-02 9.98329561e-01 -5.97965166e-04 -1.01683773e+01] [-1.09425089e-02 -3.43105132e-05 9.99940128e-01 -5.52339583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96439141799996 meters 0.015579153799673687 Centerline is valid? [True, True] Translation: X:251.91, Y:-10.18, Z:-5.52 [[ 9.98342822e-01 5.63914371e-02 1.14723946e-02 2.51914543e+02] [-5.63879626e-02 9.98408737e-01 -6.26360870e-04 -1.01758526e+01] [-1.14894603e-02 -2.15820760e-05 9.99933994e-01 -5.52412234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02439141799996 meters 0.015566444041311148 Centerline is valid? [True, True] Translation: X:251.97, Y:-10.19, Z:-5.52 [[ 9.98514827e-01 5.33084583e-02 1.12404799e-02 2.51970950e+02] [-5.33049232e-02 9.98578093e-01 -6.14066229e-04 -1.01866352e+01] [-1.12572319e-02 1.39813183e-05 9.99936635e-01 -5.52467603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08439141799997 meters 0.01569806300430601 Centerline is valid? [True, True] Translation: X:252.03, Y:-10.20, Z:-5.53 [[ 9.98686253e-01 4.99415155e-02 1.14722349e-02 2.52028979e+02] [-4.99376511e-02 9.98752143e-01 -6.23237193e-04 -1.01984527e+01] [-1.14890446e-02 4.95219549e-05 9.99933998e-01 -5.52590597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14439141799997 meters 0.01583850047595097 Centerline is valid? [True, True] Translation: X:252.09, Y:-10.21, Z:-5.53 [[ 9.98741464e-01 4.88498264e-02 1.13658559e-02 2.52086460e+02] [-4.88459703e-02 9.98806133e-01 -6.16791160e-04 -1.02091328e+01] [-1.13824167e-02 6.08386494e-05 9.99935216e-01 -5.52814387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20439141799997 meters 0.015790875142856212 Centerline is valid? [True, True] Translation: X:252.15, Y:-10.22, Z:-5.53 [[ 9.98740557e-01 4.91020033e-02 1.03098236e-02 2.52145269e+02] [-4.90988543e-02 9.98793768e-01 -5.58475851e-04 -1.02160725e+01] [-1.03248099e-02 5.15719545e-05 9.99946696e-01 -5.53061584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26439141799997 meters 0.015857400070159875 Centerline is valid? [True, True] Translation: X:252.20, Y:-10.22, Z:-5.53 [[ 9.98677798e-01 5.06423899e-02 8.83196608e-03 2.52203806e+02] [-5.06401431e-02 9.98716850e-01 -4.77990815e-04 -1.02229002e+01] [-8.84483995e-03 3.01067886e-05 9.99960883e-01 -5.53308505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32439141799998 meters 0.015756407477801004 Centerline is valid? [True, True] Translation: X:252.26, Y:-10.23, Z:-5.53 [[ 9.98557725e-01 5.27999779e-02 9.72789826e-03 2.52261152e+02] [-5.27973562e-02 9.98605108e-01 -5.26298606e-04 -1.02295804e+01] [-9.74211745e-03 1.19322291e-05 9.99952544e-01 -5.53368779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38439141799998 meters 0.01529351620713945 Centerline is valid? [True, True] Translation: X:252.32, Y:-10.23, Z:-5.53 [[ 9.98465687e-01 5.43531884e-02 1.05831475e-02 2.52319729e+02] [-5.43501962e-02 9.98521773e-01 -5.70344023e-04 -1.02348761e+01] [-1.05985032e-02 -5.72720484e-06 9.99943834e-01 -5.53206203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44439141799998 meters 0.015387072253366689 Centerline is valid? [True, True] Translation: X:252.38, Y:-10.25, Z:-5.54 [[ 9.98490901e-01 5.40247830e-02 9.86124187e-03 2.52377281e+02] [-5.40221734e-02 9.98539595e-01 -5.31005520e-04 -1.02466158e+01] [-9.87552792e-03 -2.52153800e-06 9.99951236e-01 -5.53526131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50439141799998 meters 0.015491594448197516 Centerline is valid? [True, True] Translation: X:252.44, Y:-10.26, Z:-5.54 [[ 9.98675627e-01 5.05937133e-02 9.34178177e-03 2.52435077e+02] [-5.05912284e-02 9.98719318e-01 -5.02263527e-04 -1.02569686e+01] [-9.35522929e-03 2.89861275e-05 9.99956238e-01 -5.53725535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56439141799999 meters 0.01665398362083076 Centerline is valid? [True, True] Translation: X:252.49, Y:-10.27, Z:-5.54 [[ 9.99068531e-01 4.21102513e-02 9.42324721e-03 2.52493231e+02] [-4.21073565e-02 9.99112964e-01 -5.05464462e-04 -1.02737167e+01] [-9.43617369e-03 1.08205607e-04 9.99955472e-01 -5.53910747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62439141799996 meters 0.020570070672158262 Centerline is valid? [True, True] Translation: X:252.55, Y:-10.29, Z:-5.54 [[ 9.99417249e-01 3.26212421e-02 1.00507516e-02 2.52550620e+02] [-3.26174811e-02 9.99467764e-01 -5.37943064e-04 -1.02929249e+01] [-1.00629506e-02 2.09799377e-04 9.99949345e-01 -5.54077598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68439141799996 meters 0.021499976847699036 Centerline is valid? [True, True] Translation: X:252.61, Y:-10.30, Z:-5.54 [[ 9.99574015e-01 2.72676980e-02 1.04048225e-02 2.52609315e+02] [-2.72633822e-02 9.99628130e-01 -5.56423872e-04 -1.03018190e+01] [-1.04161256e-02 2.72516191e-04 9.99945714e-01 -5.54054951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74439141799996 meters 0.024499053832570943 Centerline is valid? [True, True] Translation: X:252.67, Y:-10.31, Z:-5.54 [[ 9.99721075e-01 2.10744735e-02 1.06601715e-02 2.52668609e+02] [-2.10696032e-02 9.99777849e-01 -5.68983270e-04 -1.03137673e+01] [-1.06697944e-02 3.44218983e-04 9.99943017e-01 -5.54167613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80439141799997 meters 0.026261624421376348 Centerline is valid? [True, True] Translation: X:252.73, Y:-10.32, Z:-5.54 [[ 9.99804484e-01 1.62575564e-02 1.12554387e-02 2.52728235e+02] [-1.62518264e-02 9.99867750e-01 -6.00362763e-04 -1.03227791e+01] [-1.12637106e-02 4.17323947e-04 9.99936475e-01 -5.54257931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86439141799997 meters 0.02770598718898581 Centerline is valid? [True, True] Translation: X:252.79, Y:-10.33, Z:-5.54 [[ 9.99853013e-01 1.31472225e-02 1.10046544e-02 2.52789853e+02] [-1.31415751e-02 9.99913474e-01 -5.85337817e-04 -1.03295045e+01] [-1.10113978e-02 4.40633288e-04 9.99939276e-01 -5.54402116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92439141799997 meters 0.03109314095288303 Centerline is valid? [True, True] Translation: X:252.85, Y:-10.34, Z:-5.55 [[ 9.99915577e-01 7.29131062e-03 1.07552492e-02 2.52850339e+02] [-7.28554966e-03 9.99973295e-01 -5.74725241e-04 -1.03383921e+01] [-1.07591525e-02 4.96318819e-04 9.99941995e-01 -5.54572899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98439141799997 meters 0.03606926756621472 Centerline is valid? [True, True] Translation: X:252.91, Y:-10.35, Z:-5.55 [[ 9.99945599e-01 1.53881858e-03 1.03165002e-02 2.52909417e+02] [-1.53320436e-03 9.99998672e-01 -5.52084779e-04 -1.03502918e+01] [-1.03173360e-02 5.36237442e-04 9.99946631e-01 -5.54896261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04439141799998 meters 0.03700223939225668 Centerline is valid? [True, True] Translation: X:252.97, Y:-10.35, Z:-5.55 [[ 9.99942080e-01 -2.95327866e-03 1.03496044e-02 2.52970110e+02] [ 2.95916287e-03 9.99995469e-01 -5.53277372e-04 -1.03542649e+01] [-1.03479235e-02 5.83871491e-04 9.99946288e-01 -5.55009313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10439141799998 meters 0.0374560205528616 Centerline is valid? [True, True] Translation: X:253.03, Y:-10.36, Z:-5.55 [[ 9.99939302e-01 -2.87748428e-03 1.06354553e-02 2.53032858e+02] [ 2.88368410e-03 9.99995681e-01 -5.67649370e-04 -1.03566399e+01] [-1.06337760e-02 5.98284208e-04 9.99943281e-01 -5.55169719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16439141799998 meters 0.0337558641410899 Centerline is valid? [True, True] Translation: X:253.09, Y:-10.35, Z:-5.55 [[ 9.99933537e-01 2.72145499e-03 1.12033477e-02 2.53093463e+02] [-2.71489526e-03 9.99996134e-01 -6.00681926e-04 -1.03505448e+01] [-1.12049392e-02 5.70226087e-04 9.99937060e-01 -5.55209755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22439141799998 meters 0.028790824724922025 Centerline is valid? [True, True] Translation: X:253.15, Y:-10.34, Z:-5.55 [[ 9.99821444e-01 1.38445793e-02 1.28611014e-02 2.53154369e+02] [-1.38368534e-02 9.99904028e-01 -6.89512327e-04 -1.03408442e+01] [-1.28694131e-02 5.11432036e-04 9.99917055e-01 -5.55162768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28439141799998 meters 0.02276001522583256 Centerline is valid? [True, True] Translation: X:253.22, Y:-10.33, Z:-5.55 [[ 9.99630579e-01 2.32979345e-02 1.39968495e-02 2.53215701e+02] [-2.32897044e-02 9.99728476e-01 -7.50733263e-04 -1.03304206e+01] [-1.40105396e-02 4.24473438e-04 9.99901757e-01 -5.55115567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344391418 meters 0.01860375590126323 Centerline is valid? [True, True] Translation: X:253.28, Y:-10.32, Z:-5.55 [[ 9.99327580e-01 3.35628611e-02 1.47621875e-02 2.53276308e+02] [-3.35548226e-02 9.99436565e-01 -7.91953133e-04 -1.03221759e+01] [-1.47804502e-02 2.96078025e-04 9.99890719e-01 -5.55153926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40439141799996 meters 0.01504053290998133 Centerline is valid? [True, True] Translation: X:253.34, Y:-10.31, Z:-5.55 [[ 9.98666567e-01 4.94534844e-02 1.48135545e-02 2.53336216e+02] [-4.94471344e-02 9.98776426e-01 -7.94842765e-04 -1.03083616e+01] [-1.48347368e-02 6.12950732e-05 9.99889957e-01 -5.55308798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46439141799996 meters 0.015107914217919443 Centerline is valid? [True, True] Translation: X:253.40, Y:-10.30, Z:-5.55 [[ 9.98212180e-01 5.79974379e-02 1.44478859e-02 2.53395223e+02] [-5.79922954e-02 9.98316730e-01 -7.74987449e-04 -1.03018581e+01] [-1.44685135e-02 -6.42641588e-05 9.99895324e-01 -5.55414850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52439141799996 meters 0.01764140182414089 Centerline is valid? [True, True] Translation: X:253.45, Y:-10.30, Z:-5.56 [[ 9.97621706e-01 6.74255124e-02 1.43084694e-02 2.53452995e+02] [-6.74214497e-02 9.97724291e-01 -7.66668936e-04 -1.02955969e+01] [-1.43276005e-02 -1.99852176e-04 9.99897335e-01 -5.55506245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58439141799997 meters 0.017164624874698938 Centerline is valid? [True, True] Translation: X:253.51, Y:-10.30, Z:-5.56 [[ 9.97613812e-01 6.75073435e-02 1.44720422e-02 2.53510869e+02] [-6.75032204e-02 9.97718756e-01 -7.73747508e-04 -1.02993062e+01] [-1.44912616e-02 -2.05008254e-04 9.99894975e-01 -5.55575930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64439141799997 meters 0.01661697871563053 Centerline is valid? [True, True] Translation: X:253.57, Y:-10.31, Z:-5.56 [[ 9.97909737e-01 6.31658405e-02 1.36467266e-02 2.53568411e+02] [-6.31617907e-02 9.98003035e-01 -7.27978418e-04 -1.03059841e+01] [-1.36654579e-02 -1.35494939e-04 9.99906614e-01 -5.55813620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70439141799997 meters 0.014934081071894437 Centerline is valid? [True, True] Translation: X:253.63, Y:-10.32, Z:-5.56 [[ 9.98512699e-01 5.24231206e-02 1.49735022e-02 2.53626525e+02] [-5.24170637e-02 9.98624963e-01 -7.96948029e-04 -1.03227862e+01] [-1.49946916e-02 1.08957091e-05 9.99887573e-01 -5.55920210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76439141799997 meters 0.015872606076231626 Centerline is valid? [True, True] Translation: X:253.68, Y:-10.34, Z:-5.56 [[ 9.98988566e-01 4.20130835e-02 1.60232898e-02 2.53684797e+02] [-4.20048282e-02 9.99117045e-01 -8.51553107e-04 -1.03370799e+01] [-1.60449183e-02 1.77636283e-04 9.99871256e-01 -5.55818517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82439141799998 meters 0.022760079138988473 Centerline is valid? [True, True] Translation: X:253.74, Y:-10.36, Z:-5.56 [[ 9.99568307e-01 2.46033591e-02 1.60584788e-02 2.53742968e+02] [-2.45928494e-02 9.99697187e-01 -8.51645470e-04 -1.03608173e+01] [-1.60745695e-02 4.56354070e-04 9.99870692e-01 -5.55848511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88439141799998 meters 0.029744035296645783 Centerline is valid? [True, True] Translation: X:253.80, Y:-10.38, Z:-5.56 [[ 9.99838086e-01 8.70781537e-03 1.57472757e-02 2.53802073e+02] [-8.69573979e-03 9.99961843e-01 -8.35146189e-04 -1.03819819e+01] [-1.57539471e-02 6.98076754e-04 9.99875655e-01 -5.55979779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94439141799998 meters 0.037108022747434674 Centerline is valid? [True, True] Translation: X:253.86, Y:-10.40, Z:-5.56 [[ 9.99868226e-01 -1.91936513e-03 1.61197334e-02 2.53860743e+02] [ 1.93339457e-03 9.99997766e-01 -8.54788163e-04 -1.04008699e+01] [-1.61180568e-02 8.85841330e-04 9.99869703e-01 -5.56048680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00439141799998 meters 0.036652192843087676 Centerline is valid? [True, True] Translation: X:253.92, Y:-10.41, Z:-5.56 [[ 9.99853618e-01 -5.79370580e-03 1.60989534e-02 2.53921834e+02] [ 5.80820790e-03 9.99982767e-01 -8.54199468e-04 -1.04051386e+01] [-1.60937270e-02 9.47580497e-04 9.99870039e-01 -5.56103047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06439141799999 meters 0.04018038379058376 Centerline is valid? [True, True] Translation: X:253.98, Y:-10.41, Z:-5.56 [[ 9.99876718e-01 -6.34032320e-03 1.43648757e-02 2.53982579e+02] [ 6.35192441e-03 9.99979536e-01 -7.62128620e-04 -1.04139535e+01] [-1.43597496e-02 8.53279268e-04 9.99896529e-01 -5.56393838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12439141799996 meters 0.035630204725765696 Centerline is valid? [True, True] Translation: X:254.04, Y:-10.41, Z:-5.57 [[ 9.99909537e-01 -3.64901153e-03 1.29461134e-02 2.54044365e+02] [ 3.65822003e-03 9.99993072e-01 -6.87684434e-04 -1.04105489e+01] [-1.29435143e-02 7.34981956e-04 9.99915959e-01 -5.56548487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18439141799996 meters 0.034629329520709365 Centerline is valid? [True, True] Translation: X:254.11, Y:-10.41, Z:-5.57 [[ 9.99934371e-01 -9.51653841e-04 1.14170340e-02 2.54105714e+02] [ 9.58644296e-04 9.99999356e-01 -6.06825967e-04 -1.04106500e+01] [-1.14164492e-02 6.17731016e-04 9.99934639e-01 -5.56774638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24439141799996 meters 0.0344700339164683 Centerline is valid? [True, True] Translation: X:254.17, Y:-10.41, Z:-5.57 [[ 9.99954587e-01 7.67095838e-06 9.53011210e-03 2.54167786e+02] [-2.84621172e-06 9.99999872e-01 -5.06276838e-04 -1.04119851e+01] [-9.53011476e-03 5.06226722e-04 9.99954459e-01 -5.57006463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30439141799997 meters 0.040340550887784446 Centerline is valid? [True, True] Translation: X:254.23, Y:-10.42, Z:-5.57 [[ 9.99967617e-01 1.52470044e-03 7.90188916e-03 2.54228978e+02] [-1.52142796e-03 9.99998754e-01 -4.20133697e-04 -1.04210317e+01] [-7.90251990e-03 4.08097937e-04 9.99968691e-01 -5.57401316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36439141799997 meters 0.03382740424890314 Centerline is valid? [True, True] Translation: X:254.29, Y:-10.41, Z:-5.57 [[ 9.99956982e-01 4.46336120e-03 8.13094857e-03 2.54290946e+02] [-4.45998301e-03 9.99989960e-01 -4.33558455e-04 -1.04122675e+01] [-8.13280206e-03 3.97275912e-04 9.99966849e-01 -5.57180482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42439141799997 meters 0.03029380716870814 Centerline is valid? [True, True] Translation: X:254.35, Y:-10.41, Z:-5.57 [[ 9.99916964e-01 8.57283494e-03 9.62140523e-03 2.54351761e+02] [-8.56828467e-03 9.99963159e-01 -5.14053814e-04 -1.04067063e+01] [-9.62545767e-03 4.31572191e-04 9.99953581e-01 -5.56994595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48439141799997 meters 0.029769433039189254 Centerline is valid? [True, True] Translation: X:254.41, Y:-10.41, Z:-5.57 [[ 9.99866868e-01 1.29498831e-02 9.92712289e-03 2.54411461e+02] [-1.29452544e-02 9.99916066e-01 -5.30387741e-04 -1.04068780e+01] [-9.93315813e-03 4.01807999e-04 9.99950584e-01 -5.57099077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54439141799998 meters 0.02404011990482373 Centerline is valid? [True, True] Translation: X:254.47, Y:-10.40, Z:-5.57 [[ 9.99719451e-01 2.12931181e-02 1.03740860e-02 2.54472881e+02] [-2.12885120e-02 9.99773220e-01 -5.54231200e-04 -1.03970703e+01] [-1.03835347e-02 3.33226856e-04 9.99946034e-01 -5.57085520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60439141799998 meters 0.019784191424486272 Centerline is valid? [True, True] Translation: X:254.53, Y:-10.39, Z:-5.57 [[ 9.99449981e-01 3.14600354e-02 1.04881870e-02 2.54533291e+02] [-3.14558829e-02 9.99504984e-01 -5.60697370e-04 -1.03892309e+01] [-1.05006348e-02 2.30473793e-04 9.99944840e-01 -5.57189834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66439141799998 meters 0.01823641393779232 Centerline is valid? [True, True] Translation: X:254.59, Y:-10.39, Z:-5.57 [[ 9.99211446e-01 3.82557083e-02 1.06295657e-02 2.54591591e+02] [-3.82518240e-02 9.99267969e-01 -5.68561588e-04 -1.03865945e+01] [-1.06435353e-02 1.61512968e-04 9.99943343e-01 -5.57401762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72439141799998 meters 0.016006533462747864 Centerline is valid? [True, True] Translation: X:254.65, Y:-10.38, Z:-5.57 [[ 9.98678282e-01 5.02766979e-02 1.06744379e-02 2.54650718e+02] [-5.02734755e-02 9.98735327e-01 -5.70162610e-04 -1.03772642e+01] [-1.06896041e-02 3.27679225e-05 9.99942864e-01 -5.57408113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78439141799998 meters 0.01604708583918491 Centerline is valid? [True, True] Translation: X:254.71, Y:-10.38, Z:-5.58 [[ 9.98449298e-01 5.45639856e-02 1.10350260e-02 2.54708236e+02] [-5.45608069e-02 9.98510276e-01 -5.89124437e-04 -1.03763038e+01] [-1.10507318e-02 -1.38690412e-05 9.99938939e-01 -5.57559937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844391418 meters 0.016022495983303013 Centerline is valid? [True, True] Translation: X:254.77, Y:-10.38, Z:-5.58 [[ 9.98312866e-01 5.69949089e-02 1.10906425e-02 2.54767335e+02] [-5.69918733e-02 9.98374468e-01 -5.89822804e-04 -1.03787096e+01] [-1.11062312e-02 -4.32487977e-05 9.99938323e-01 -5.57807541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90439141799996 meters 0.015455865164488361 Centerline is valid? [True, True] Translation: X:254.83, Y:-10.39, Z:-5.58 [[ 9.98477982e-01 5.37455709e-02 1.23746817e-02 2.54825791e+02] [-5.37415564e-02 9.98554662e-01 -6.56953434e-04 -1.03869373e+01] [-1.23921045e-02 -9.08111543e-06 9.99923215e-01 -5.57865250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96439141799996 meters 0.01564760063589899 Centerline is valid? [True, True] Translation: X:254.88, Y:-10.40, Z:-5.58 [[ 9.98752951e-01 4.83603342e-02 1.24024207e-02 2.54882676e+02] [-4.83558942e-02 9.98829953e-01 -6.57802661e-04 -1.03959590e+01] [-1.24197208e-02 5.72522066e-05 9.99922871e-01 -5.58023119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024391418 meters 0.017469829360185176 Centerline is valid? [True, True] Translation: X:254.94, Y:-10.41, Z:-5.58 [[ 9.99186626e-01 3.81864627e-02 1.29568551e-02 2.54941149e+02] [-3.81807892e-02 9.99270613e-01 -6.85049639e-04 -1.04119015e+01] [-1.29735642e-02 1.89789484e-04 9.99915822e-01 -5.58189932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084391418 meters 0.020631430046183008 Centerline is valid? [True, True] Translation: X:255.00, Y:-10.43, Z:-5.58 [[ 9.99538219e-01 2.73408282e-02 1.32600405e-02 2.55000213e+02] [-2.73339467e-02 9.99626113e-01 -6.99952060e-04 -1.04278420e+01] [-1.32742200e-02 3.37179594e-04 9.99911837e-01 -5.58325963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144391418 meters 0.025696966946016832 Centerline is valid? [True, True] Translation: X:255.06, Y:-10.44, Z:-5.59 [[ 9.99722509e-01 1.89499073e-02 1.39930919e-02 2.55059315e+02] [-1.89414284e-02 9.99820323e-01 -7.38226673e-04 -1.04439053e+01] [-1.40045670e-02 4.72972673e-04 9.99901819e-01 -5.58500686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204391418 meters 0.0260914746230752 Centerline is valid? [True, True] Translation: X:255.12, Y:-10.45, Z:-5.59 [[ 9.99772389e-01 1.61183799e-02 1.39774298e-02 2.55121245e+02] [-1.61096542e-02 9.99869960e-01 -7.36641028e-04 -1.04498347e+01] [-1.39874856e-02 5.11301799e-04 9.99902040e-01 -5.58601554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26439141799995 meters 0.026208571325935605 Centerline is valid? [True, True] Translation: X:255.18, Y:-10.46, Z:-5.59 [[ 9.99749061e-01 1.77140271e-02 1.37123286e-02 2.55183224e+02] [-1.77057867e-02 9.99842980e-01 -7.22121641e-04 -1.04550960e+01] [-1.37229672e-02 4.79152867e-04 9.99905721e-01 -5.58736728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32439141799995 meters 0.02508220719712634 Centerline is valid? [True, True] Translation: X:255.25, Y:-10.46, Z:-5.59 [[ 9.99686312e-01 2.06282676e-02 1.42039477e-02 2.55245274e+02] [-2.06196611e-02 9.99787109e-01 -7.52120494e-04 -1.04566755e+01] [-1.42164388e-02 4.59003974e-04 9.99898836e-01 -5.58792345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38439141799995 meters 0.022665072834439956 Centerline is valid? [True, True] Translation: X:255.31, Y:-10.46, Z:-5.59 [[ 9.99575898e-01 2.50962365e-02 1.47717083e-02 2.55307274e+02] [-2.50873301e-02 9.99684953e-01 -7.87956592e-04 -1.04550316e+01] [-1.47868293e-02 4.17039695e-04 9.99890582e-01 -5.58911617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44439141799995 meters 0.019969352333186346 Centerline is valid? [True, True] Translation: X:255.37, Y:-10.45, Z:-5.59 [[ 9.99467294e-01 2.96992563e-02 1.35308277e-02 2.55368397e+02] [-2.96921912e-02 9.99558828e-01 -7.22785784e-04 -1.04530332e+01] [-1.35463245e-02 3.20640828e-04 9.99908193e-01 -5.59147787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50439141799995 meters 0.021193803903797114 Centerline is valid? [True, True] Translation: X:255.43, Y:-10.46, Z:-5.59 [[ 9.99428215e-01 3.11858032e-02 1.30647898e-02 2.55426439e+02] [-3.11793338e-02 9.99513562e-01 -6.98624949e-04 -1.04575065e+01] [-1.30802217e-02 2.90874045e-04 9.99914408e-01 -5.59427169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56439141799996 meters 0.018363434966357763 Centerline is valid? [True, True] Translation: X:255.49, Y:-10.45, Z:-5.59 [[ 9.99294564e-01 3.52870413e-02 1.28529488e-02 2.55486455e+02] [-3.52811238e-02 9.99377191e-01 -6.86917882e-04 -1.04526626e+01] [-1.28691831e-02 2.32966829e-04 9.99917161e-01 -5.59443577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62439141799996 meters 0.017042759214241938 Centerline is valid? [True, True] Translation: X:255.55, Y:-10.45, Z:-5.59 [[ 9.99148721e-01 3.90131049e-02 1.34093311e-02 2.55545398e+02] [-3.90070024e-02 9.99238680e-01 -7.16431813e-04 -1.04504850e+01] [-1.34270725e-02 1.92764121e-04 9.99909834e-01 -5.59473145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68439141799996 meters 0.016747565750391383 Centerline is valid? [True, True] Translation: X:255.60, Y:-10.45, Z:-5.59 [[ 9.99066858e-01 4.05028572e-02 1.49977506e-02 2.55604328e+02] [-4.04954121e-02 9.99179404e-01 -7.99889036e-04 -1.04495523e+01] [-1.50178413e-02 1.91802533e-04 9.99887207e-01 -5.59481708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74439141799996 meters 0.01693479836542217 Centerline is valid? [True, True] Translation: X:255.66, Y:-10.45, Z:-5.60 [[ 9.99096904e-01 3.95241337e-02 1.55954760e-02 2.55662571e+02] [-3.95159824e-02 9.99218593e-01 -8.30602532e-04 -1.04518552e+01] [-1.56161184e-02 2.13581864e-04 9.99878038e-01 -5.59602481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80439141799997 meters 0.01790187094144176 Centerline is valid? [True, True] Translation: X:255.72, Y:-10.46, Z:-5.60 [[ 9.99260099e-01 3.48978794e-02 1.61676480e-02 2.55722110e+02] [-3.48885454e-02 9.99390840e-01 -8.59103632e-04 -1.04555811e+01] [-1.61877802e-02 2.94402259e-04 9.99868926e-01 -5.59705881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86439141799997 meters 0.0207968463741805 Centerline is valid? [True, True] Translation: X:255.78, Y:-10.46, Z:-5.60 [[ 9.99503231e-01 2.71317883e-02 1.60361193e-02 2.55781852e+02] [-2.71216185e-02 9.99631779e-01 -8.51358402e-04 -1.04631817e+01] [-1.60533133e-02 4.16009963e-04 9.99871051e-01 -5.59903826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92439141799997 meters 0.025474634308494667 Centerline is valid? [True, True] Translation: X:255.84, Y:-10.47, Z:-5.60 [[ 9.99714114e-01 1.80190209e-02 1.57163747e-02 2.55842061e+02] [-1.80081346e-02 9.99837493e-01 -8.33926376e-04 -1.04728265e+01] [-1.57288472e-02 5.50665378e-04 9.99876142e-01 -5.60141533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.984391418 meters 0.030599864067332942 Centerline is valid? [True, True] Translation: X:255.90, Y:-10.48, Z:-5.60 [[ 9.99841192e-01 9.45161052e-03 1.51082160e-02 2.55902102e+02] [-9.44057291e-03 9.99955115e-01 -8.01723732e-04 -1.04818968e+01] [-1.51151154e-02 6.58966197e-04 9.99885543e-01 -5.60386652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044391418 meters 0.03183896877712736 Centerline is valid? [True, True] Translation: X:255.96, Y:-10.49, Z:-5.60 [[ 9.99851347e-01 4.57518862e-03 1.66237970e-02 2.55963287e+02] [-4.56115488e-03 9.99989209e-01 -8.82012448e-04 -1.04855635e+01] [-1.66276530e-02 8.06057622e-04 9.99861426e-01 -5.60420328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104391418 meters 0.0363532204434611 Centerline is valid? [True, True] Translation: X:256.02, Y:-10.49, Z:-5.61 [[ 9.99858924e-01 -1.01144541e-03 1.67662828e-02 2.56022616e+02] [ 1.02652044e-03 9.99999077e-01 -8.90546125e-04 -1.04913634e+01] [-1.67653666e-02 9.07631422e-04 9.99859039e-01 -5.60636998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164391418 meters 0.03770455649245193 Centerline is valid? [True, True] Translation: X:256.08, Y:-10.49, Z:-5.61 [[ 9.99860609e-01 -3.86418912e-03 1.62428851e-02 2.56083644e+02] [ 3.87870524e-03 9.99992106e-01 -8.62283358e-04 -1.04933356e+01] [-1.62394248e-02 9.25164527e-04 9.99867704e-01 -5.60820890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224391418 meters 0.04038741532611421 Centerline is valid? [True, True] Translation: X:256.14, Y:-10.50, Z:-5.61 [[ 9.99868003e-01 -4.22660570e-03 1.56879974e-02 2.56144332e+02] [ 4.24017284e-03 9.99990665e-01 -8.31648324e-04 -1.04982791e+01] [-1.56843359e-02 8.98058369e-04 9.99876590e-01 -5.61019549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284391418 meters 0.04078534162871228 Centerline is valid? [True, True] Translation: X:256.21, Y:-10.50, Z:-5.61 [[ 9.99881023e-01 -5.69223134e-03 1.43365913e-02 2.56206056e+02] [ 5.70375685e-03 9.99983442e-01 -7.63162444e-04 -1.04988757e+01] [-1.43320098e-02 8.44844076e-04 9.99896935e-01 -5.61219869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344391418 meters 0.040970313322367634 Centerline is valid? [True, True] Translation: X:256.27, Y:-10.50, Z:-5.61 [[ 9.99899012e-01 -5.12412386e-03 1.32555327e-02 2.56268435e+02] [ 5.13398550e-03 9.99986569e-01 -7.10042659e-04 -1.05000612e+01] [-1.32517163e-02 7.78024666e-04 9.99911889e-01 -5.61391216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404391418 meters 0.03501385062910975 Centerline is valid? [True, True] Translation: X:256.33, Y:-10.49, Z:-5.61 [[ 9.99908894e-01 -1.01610596e-03 1.34600186e-02 2.56329727e+02] [ 1.02592403e-03 9.99999213e-01 -7.22540294e-04 -1.04910949e+01] [-1.34592738e-02 7.36283422e-04 9.99909149e-01 -5.61325685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464391418 meters 0.032125596638809546 Centerline is valid? [True, True] Translation: X:256.39, Y:-10.49, Z:-5.61 [[ 9.99869491e-01 7.13313459e-03 1.44954951e-02 2.56389338e+02] [-7.12259252e-03 9.99974331e-01 -7.78760866e-04 -1.04851804e+01] [-1.45006780e-02 6.75413726e-04 9.99894632e-01 -5.61330067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524391418 meters 0.027631871312193305 Centerline is valid? [True, True] Translation: X:256.45, Y:-10.48, Z:-5.61 [[ 9.99787534e-01 1.45387917e-02 1.46120067e-02 2.56450332e+02] [-1.45288762e-02 9.99894143e-01 -7.84513679e-04 -1.04787313e+01] [-1.46218658e-02 5.72050961e-04 9.99892931e-01 -5.61321327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584391418 meters 0.021594655959039366 Centerline is valid? [True, True] Translation: X:256.51, Y:-10.47, Z:-5.61 [[ 9.99567131e-01 2.56429523e-02 1.44218577e-02 2.56511533e+02] [-2.56344458e-02 9.99671084e-01 -7.74417792e-04 -1.04679088e+01] [-1.44369724e-02 4.04386242e-04 9.99895700e-01 -5.61404626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644391418 meters 0.0176423906664117 Centerline is valid? [True, True] Translation: X:256.57, Y:-10.46, Z:-5.62 [[ 9.99284601e-01 3.53050309e-02 1.35588289e-02 2.56572173e+02] [-3.52983987e-02 9.99376552e-01 -7.28225928e-04 -1.04609931e+01] [-1.35760857e-02 2.49100009e-04 9.99907810e-01 -5.61591114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704391418 meters 0.015839491504156124 Centerline is valid? [True, True] Translation: X:256.63, Y:-10.46, Z:-5.62 [[ 9.99091283e-01 4.06844994e-02 1.27035566e-02 2.56630956e+02] [-4.06791080e-02 9.99172029e-01 -6.82614648e-04 -1.04571698e+01] [-1.27208103e-02 1.65224991e-04 9.99919074e-01 -5.61791932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76439141799995 meters 0.015657354693091038 Centerline is valid? [True, True] Translation: X:256.69, Y:-10.46, Z:-5.62 [[ 9.99061337e-01 4.15060883e-02 1.23971792e-02 2.56689994e+02] [-4.15010287e-02 9.99138240e-01 -6.65218114e-04 -1.04584964e+01] [-1.24141064e-02 1.50098007e-04 9.99922931e-01 -5.61989655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82439141799995 meters 0.01597471591808945 Centerline is valid? [True, True] Translation: X:256.75, Y:-10.46, Z:-5.62 [[ 9.99166593e-01 3.85601373e-02 1.33878664e-02 2.56749138e+02] [-3.85539875e-02 9.99256261e-01 -7.17241264e-04 -1.04620937e+01] [-1.34055662e-02 2.00487878e-04 9.99910121e-01 -5.61972114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88439141799995 meters 0.01838682007085711 Centerline is valid? [True, True] Translation: X:256.81, Y:-10.47, Z:-5.62 [[ 9.99270765e-01 3.51331170e-02 1.49533603e-02 2.56806416e+02] [-3.51250801e-02 9.99382604e-01 -7.99842471e-04 -1.04697165e+01] [-1.49722291e-02 2.74021220e-04 9.99887872e-01 -5.62059672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94439141799995 meters 0.020156061512706977 Centerline is valid? [True, True] Translation: X:256.87, Y:-10.48, Z:-5.62 [[ 9.99506956e-01 2.71415767e-02 1.57854193e-02 2.56865694e+02] [-2.71316561e-02 9.99631514e-01 -8.42321533e-04 -1.04768710e+01] [-1.58024646e-02 4.13621663e-04 9.99875048e-01 -5.62137060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00439141799995 meters 0.023911168669801305 Centerline is valid? [True, True] Translation: X:256.93, Y:-10.49, Z:-5.62 [[ 9.99668337e-01 2.04069999e-02 1.57089261e-02 2.56925868e+02] [-2.03963581e-02 9.99791622e-01 -8.37371681e-04 -1.04873058e+01] [-1.57227410e-02 5.16689074e-04 9.99876257e-01 -5.62400580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06439141799996 meters 0.03201636749517767 Centerline is valid? [True, True] Translation: X:256.98, Y:-10.50, Z:-5.63 [[ 9.99816385e-01 9.99908172e-03 1.63466850e-02 2.56984567e+02] [-9.98616809e-03 9.99949757e-01 -8.71421359e-04 -1.05040752e+01] [-1.63545771e-02 7.08020610e-04 9.99866004e-01 -5.62691326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12439141799996 meters 0.03364629078391036 Centerline is valid? [True, True] Translation: X:257.05, Y:-10.51, Z:-5.63 [[ 9.99857879e-01 1.18806609e-03 1.68169618e-02 2.57045313e+02] [-1.17316205e-03 9.99998910e-01 -8.96088003e-04 -1.05109397e+01] [-1.68180080e-02 8.76231629e-04 9.99858183e-01 -5.62807111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18439141799996 meters 0.037358083466983126 Centerline is valid? [True, True] Translation: X:257.11, Y:-10.52, Z:-5.63 [[ 9.99851177e-01 -2.87204550e-03 1.70110328e-02 2.57105764e+02] [ 2.88789352e-03 9.99995419e-01 -9.07140211e-04 -1.05200398e+01] [-1.70083495e-02 9.56131260e-04 9.99854890e-01 -5.63033443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24439141799996 meters 0.03733600822048219 Centerline is valid? [True, True] Translation: X:257.17, Y:-10.52, Z:-5.63 [[ 9.99854939e-01 -1.76258028e-03 1.69409088e-02 2.57167773e+02] [ 1.77813969e-03 9.99998011e-01 -9.03432816e-04 -1.05227890e+01] [-1.69392828e-02 9.33425065e-04 9.99856084e-01 -5.63234523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30439141799997 meters 0.03623927810101314 Centerline is valid? [True, True] Translation: X:257.23, Y:-10.52, Z:-5.63 [[ 9.99844710e-01 4.84401094e-03 1.69437579e-02 2.57227311e+02] [-4.82936145e-03 9.99987929e-01 -9.05405095e-04 -1.05225340e+01] [-1.69479392e-02 8.23436963e-04 9.99856034e-01 -5.63444557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36439141799997 meters 0.03824464535381428 Centerline is valid? [True, True] Translation: X:257.29, Y:-10.53, Z:-5.64 [[ 9.99824527e-01 7.93460653e-03 1.69693121e-02 2.57287515e+02] [-7.92036569e-03 9.99968223e-01 -9.06254343e-04 -1.05275646e+01] [-1.69759636e-02 7.71692162e-04 9.99855600e-01 -5.63591109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42439141799997 meters 0.024145152265286678 Centerline is valid? [True, True] Translation: X:257.35, Y:-10.51, Z:-5.64 [[ 9.99707704e-01 1.73631792e-02 1.68233705e-02 2.57349499e+02] [-1.73505098e-02 9.99849065e-01 -8.98762689e-04 -1.05090183e+01] [-1.68364366e-02 6.06605930e-04 9.99858073e-01 -5.63596893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.484391418 meters 0.021324487400750578 Centerline is valid? [True, True] Translation: X:257.41, Y:-10.50, Z:-5.64 [[ 9.99555713e-01 2.53227956e-02 1.57204500e-02 2.57409599e+02] [-2.53127098e-02 9.99679229e-01 -8.40248603e-04 -1.05049222e+01] [-1.57366847e-02 4.41948104e-04 9.99876073e-01 -5.63856785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544391418 meters 0.01887637957755773 Centerline is valid? [True, True] Translation: X:257.47, Y:-10.50, Z:-5.64 [[ 9.99396103e-01 3.14325476e-02 1.48129931e-02 2.57469970e+02] [-3.14242612e-02 9.99505822e-01 -7.91887068e-04 -1.05015347e+01] [-1.48305639e-02 3.25921484e-04 9.99889968e-01 -5.64120667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604391418 meters 0.017759110731510673 Centerline is valid? [True, True] Translation: X:257.53, Y:-10.50, Z:-5.64 [[ 9.99280137e-01 3.48679186e-02 1.49477484e-02 2.57529432e+02] [-3.48598652e-02 9.99391891e-01 -7.99065281e-04 -1.05010991e+01] [-1.49665203e-02 2.77413568e-04 9.99887957e-01 -5.64275362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664391418 meters 0.01663262225350472 Centerline is valid? [True, True] Translation: X:257.59, Y:-10.50, Z:-5.64 [[ 9.99141417e-01 3.80492032e-02 1.63917000e-02 2.57588534e+02] [-3.80399623e-02 9.99275835e-01 -8.75294861e-04 -1.04996655e+01] [-1.64131340e-02 2.51003697e-04 9.99865264e-01 -5.64299825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724391418 meters 0.016454171327939443 Centerline is valid? [True, True] Translation: X:257.65, Y:-10.50, Z:-5.64 [[ 9.99149020e-01 3.77161411e-02 1.66951862e-02 2.57647123e+02] [-3.77065306e-02 9.99288459e-01 -8.90162922e-04 -1.05016485e+01] [-1.67168804e-02 2.59887862e-04 9.99860229e-01 -5.64364968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784391418 meters 0.017598279950476605 Centerline is valid? [True, True] Translation: X:257.71, Y:-10.51, Z:-5.64 [[ 9.99265193e-01 3.42118454e-02 1.72807317e-02 2.57705412e+02] [-3.42010500e-02 9.99414550e-01 -9.19943187e-04 -1.05073362e+01] [-1.73020877e-02 3.28248037e-04 9.99850254e-01 -5.64389710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844391418 meters 0.01922367913253233 Centerline is valid? [True, True] Translation: X:257.76, Y:-10.51, Z:-5.65 [[ 9.99399806e-01 3.03729498e-02 1.66586559e-02 2.57763921e+02] [-3.03624077e-02 9.99538564e-01 -8.85439182e-04 -1.05141000e+01] [-1.66778624e-02 3.79110846e-04 9.99860843e-01 -5.64560315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904391418 meters 0.019974659512058505 Centerline is valid? [True, True] Translation: X:257.82, Y:-10.52, Z:-5.65 [[ 9.99476766e-01 2.80200934e-02 1.61576377e-02 2.57823659e+02] [-2.80098854e-02 9.99607278e-01 -8.57777279e-04 -1.05184907e+01] [-1.61753272e-02 4.04754881e-04 9.99869089e-01 -5.64720361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964391418 meters 0.021080974993503934 Centerline is valid? [True, True] Translation: X:257.88, Y:-10.52, Z:-5.65 [[ 9.99517134e-01 2.69484056e-02 1.54687623e-02 2.57881843e+02] [-2.69389293e-02 9.99636744e-01 -8.20690018e-04 -1.05230245e+01] [-1.54852595e-02 4.03581841e-04 9.99880015e-01 -5.64912841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024391418 meters 0.021405118179910337 Centerline is valid? [True, True] Translation: X:257.94, Y:-10.53, Z:-5.65 [[ 9.99528646e-01 2.74679783e-02 1.37111364e-02 2.57941204e+02] [-2.74605910e-02 9.99622623e-01 -7.26798383e-04 -1.05255204e+01] [-1.37259258e-02 3.49939895e-04 9.99905734e-01 -5.65126333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084391418 meters 0.019397822139453177 Centerline is valid? [True, True] Translation: X:258.00, Y:-10.52, Z:-5.65 [[ 9.99498102e-01 2.91721081e-02 1.23504277e-02 2.57999915e+02] [-2.91662441e-02 9.99574360e-01 -6.54691209e-04 -1.05237019e+01] [-1.23642696e-02 2.94147032e-04 9.99923516e-01 -5.65186578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144391418 meters 0.019122305198148542 Centerline is valid? [True, True] Translation: X:258.06, Y:-10.53, Z:-5.65 [[ 9.99472459e-01 3.01367449e-02 1.21069974e-02 2.58058260e+02] [-3.01311919e-02 9.99545747e-01 -6.40843440e-04 -1.05252357e+01] [-1.21208107e-02 2.75707107e-04 9.99926502e-01 -5.65221553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204391418 meters 0.020359048398178987 Centerline is valid? [True, True] Translation: X:258.12, Y:-10.53, Z:-5.65 [[ 9.99491660e-01 2.96434800e-02 1.17339794e-02 2.58116060e+02] [-2.96382383e-02 9.99560498e-01 -6.20396430e-04 -1.05296790e+01] [-1.17472130e-02 2.72306581e-04 9.99930962e-01 -5.65411456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26439141799995 meters 0.0210040190840275 Centerline is valid? [True, True] Translation: X:258.18, Y:-10.53, Z:-5.65 [[ 9.99575807e-01 2.70365832e-02 1.08272303e-02 2.58175356e+02] [-2.70319844e-02 9.99634406e-01 -5.70889646e-04 -1.05330848e+01] [-1.08387068e-02 2.77965958e-04 9.99941221e-01 -5.65432578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32439141799995 meters 0.022515226416300084 Centerline is valid? [True, True] Translation: X:258.23, Y:-10.54, Z:-5.66 [[ 9.99667039e-01 2.36576783e-02 1.03017471e-02 2.58234707e+02] [-2.36533395e-02 9.99720073e-01 -5.42818391e-04 -1.05385147e+01] [-1.03117052e-02 2.98966931e-04 9.99946788e-01 -5.65558315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38439141799995 meters 0.024975021672115214 Centerline is valid? [True, True] Translation: X:258.30, Y:-10.55, Z:-5.66 [[ 9.99809025e-01 1.72241342e-02 9.23272033e-03 2.58295040e+02] [-1.72203824e-02 9.99851600e-01 -4.85708786e-04 -1.05463533e+01] [-9.23971611e-03 3.26625053e-04 9.99957260e-01 -5.65689252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44439141799995 meters 0.03095758840886997 Centerline is valid? [True, True] Translation: X:258.35, Y:-10.56, Z:-5.66 [[ 9.99918638e-01 9.09691754e-03 8.94222135e-03 2.58354434e+02] [-9.09307158e-03 9.99958546e-01 -4.70653527e-04 -1.05589490e+01] [-8.94613216e-03 3.89302975e-04 9.99959907e-01 -5.65907205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50439141799995 meters 0.03444947980728186 Centerline is valid? [True, True] Translation: X:258.41, Y:-10.57, Z:-5.66 [[ 9.99952866e-01 3.84330990e-03 8.91601828e-03 2.58414888e+02] [-3.83928362e-03 9.99992520e-01 -4.68650355e-04 -1.05675151e+01] [-8.91775275e-03 4.34397143e-04 9.99960142e-01 -5.66024751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56439141799996 meters 0.036827183012765816 Centerline is valid? [True, True] Translation: X:258.47, Y:-10.57, Z:-5.66 [[ 9.99941621e-01 -2.33856990e-03 1.05492277e-02 2.58474831e+02] [ 2.34455414e-03 9.99997098e-01 -5.54936766e-04 -1.05743587e+01] [-1.05478993e-02 5.79637605e-04 9.99944201e-01 -5.65965391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62439141799996 meters 0.036150469863805434 Centerline is valid? [True, True] Translation: X:258.54, Y:-10.58, Z:-5.66 [[ 9.99916049e-01 -5.15237845e-03 1.18889925e-02 2.58536209e+02] [ 5.16017379e-03 9.99986491e-01 -6.25094992e-04 -1.05777355e+01] [-1.18856112e-02 6.86391783e-04 9.99929128e-01 -5.65958074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68439141799996 meters 0.036400860089415864 Centerline is valid? [True, True] Translation: X:258.60, Y:-10.58, Z:-5.66 [[ 9.99907294e-01 -5.52640266e-03 1.24444045e-02 2.58598423e+02] [ 5.53497421e-03 9.99984468e-01 -6.54451966e-04 -1.05820196e+01] [-1.24405945e-02 7.23270752e-04 9.99922351e-01 -5.66072694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74439141799996 meters 0.03651136264251892 Centerline is valid? [True, True] Translation: X:258.66, Y:-10.59, Z:-5.66 [[ 9.99911092e-01 -3.40400426e-03 1.28926421e-02 2.58658388e+02] [ 3.41305019e-03 9.99993945e-01 -6.79697625e-04 -1.05858735e+01] [-1.28902503e-02 7.23640429e-04 9.99916655e-01 -5.66304925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80439141799997 meters 0.03535878611116156 Centerline is valid? [True, True] Translation: X:258.72, Y:-10.59, Z:-5.67 [[ 9.99932639e-01 -6.71857453e-04 1.15872964e-02 2.58719774e+02] [ 6.78981180e-04 9.99999583e-01 -6.10864681e-04 -1.05871656e+01] [-1.15868811e-02 6.18691089e-04 9.99932678e-01 -5.66592653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86439141799997 meters 0.031870877095074315 Centerline is valid? [True, True] Translation: X:258.78, Y:-10.58, Z:-5.67 [[ 9.99922484e-01 6.71963332e-03 1.04819804e-02 2.58780981e+02] [-6.71420089e-03 9.99977306e-01 -5.53368134e-04 -1.05838071e+01] [-1.04854610e-02 4.82947117e-04 9.99944909e-01 -5.66865558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92439141799997 meters 0.02582479248469207 Centerline is valid? [True, True] Translation: X:258.84, Y:-10.58, Z:-5.67 [[ 9.99755673e-01 1.87786529e-02 1.16600180e-02 2.58842286e+02] [-1.87727510e-02 9.99823587e-01 -6.15415078e-04 -1.05756770e+01] [-1.16695177e-02 3.96374101e-04 9.99931830e-01 -5.66921710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.984391418 meters 0.021219789959427467 Centerline is valid? [True, True] Translation: X:258.90, Y:-10.57, Z:-5.67 [[ 9.99502904e-01 2.86451242e-02 1.31682204e-02 2.58902867e+02] [-2.86384457e-02 9.99589594e-01 -6.95494012e-04 -1.05693419e+01] [-1.31827386e-02 3.18030921e-04 9.99913053e-01 -5.66944700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044391418 meters 0.01583357437051492 Centerline is valid? [True, True] Translation: X:258.96, Y:-10.56, Z:-5.67 [[ 9.98910346e-01 4.37270676e-02 1.63115025e-02 2.58963138e+02] [-4.37188281e-02 9.99043503e-01 -8.61544963e-04 -1.05572515e+01] [-1.63335735e-02 1.47486401e-04 9.99866587e-01 -5.66821522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104391418 meters 0.014680053338599269 Centerline is valid? [True, True] Translation: X:259.02, Y:-10.55, Z:-5.67 [[ 9.98277883e-01 5.60560842e-02 1.72911489e-02 2.59022626e+02] [-5.60486759e-02 9.98427620e-01 -9.13134522e-04 -1.05491477e+01] [-1.73151473e-02 -5.75840006e-05 9.99850080e-01 -5.66841306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164391418 meters 0.016291442055243764 Centerline is valid? [True, True] Translation: X:259.08, Y:-10.55, Z:-5.67 [[ 9.97772611e-01 6.43050733e-02 1.77390755e-02 2.59081514e+02] [-6.42986052e-02 9.97930265e-01 -9.35315987e-04 -1.05465256e+01] [-1.77625059e-02 -2.07365140e-04 9.99842213e-01 -5.67111699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224391418 meters 0.016908133452163517 Centerline is valid? [True, True] Translation: X:259.14, Y:-10.55, Z:-5.67 [[ 9.97607420e-01 6.66069365e-02 1.85189556e-02 2.59140493e+02] [-6.66003120e-02 9.97779258e-01 -9.74906393e-04 -1.05495118e+01] [-1.85427654e-02 -2.60794373e-04 9.99828034e-01 -5.67265420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284391418 meters 0.01683228452933948 Centerline is valid? [True, True] Translation: X:259.20, Y:-10.55, Z:-5.67 [[ 9.97594756e-01 6.66956016e-02 1.88785318e-02 2.59197919e+02] [-6.66887593e-02 9.97773333e-01 -9.92454739e-04 -1.05539178e+01] [-1.89026879e-02 -2.68918217e-04 9.99821292e-01 -5.67399280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344391418 meters 0.016070224037936974 Centerline is valid? [True, True] Translation: X:259.26, Y:-10.56, Z:-5.68 [[ 9.97800609e-01 6.31898485e-02 2.00246952e-02 2.59256807e+02] [-6.31814976e-02 9.98001501e-01 -1.05004695e-03 -1.05636318e+01] [-2.00510281e-02 -2.17452748e-04 9.99798934e-01 -5.67624834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404391418 meters 0.015008058931963943 Centerline is valid? [True, True] Translation: X:259.32, Y:-10.58, Z:-5.68 [[ 9.98322098e-01 5.41970292e-02 2.03880135e-02 2.59315024e+02] [-5.41865207e-02 9.98530260e-01 -1.06791280e-03 -1.05791162e+01] [-2.04159261e-02 -3.86345667e-05 9.99791573e-01 -5.67903402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464391418 meters 0.015456008199256814 Centerline is valid? [True, True] Translation: X:259.37, Y:-10.60, Z:-5.68 [[ 9.98818933e-01 4.36891553e-02 2.12602098e-02 2.59372567e+02] [-4.36753838e-02 9.99045156e-01 -1.11187710e-03 -1.05968474e+01] [-2.12884866e-02 1.82016077e-04 9.99773358e-01 -5.68081597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524391418 meters 0.018090597390690338 Centerline is valid? [True, True] Translation: X:259.43, Y:-10.61, Z:-5.68 [[ 9.99154419e-01 3.45695866e-02 2.22573538e-02 2.59430045e+02] [-3.45522716e-02 9.99402216e-01 -1.16216036e-03 -1.06140286e+01] [-2.22842241e-02 3.92135528e-04 9.99751599e-01 -5.68173753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584391418 meters 0.019388279803095203 Centerline is valid? [True, True] Translation: X:259.49, Y:-10.62, Z:-5.68 [[ 9.99304960e-01 2.98268020e-02 2.23597464e-02 2.59489832e+02] [-2.98081796e-02 9.99554958e-01 -1.16575914e-03 -1.06243113e+01] [-2.23845662e-02 4.98445556e-04 9.99749310e-01 -5.68349846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644391418 meters 0.022045682069954033 Centerline is valid? [True, True] Translation: X:259.55, Y:-10.64, Z:-5.69 [[ 9.99423152e-01 2.55398459e-02 2.23847883e-02 2.59550386e+02] [-2.55201050e-02 9.99673628e-01 -1.16715885e-03 -1.06392659e+01] [-2.24072916e-02 5.95223427e-04 9.99748748e-01 -5.68634983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70439141799994 meters 0.022400186650980484 Centerline is valid? [True, True] Translation: X:259.61, Y:-10.65, Z:-5.69 [[ 9.99443524e-01 2.46245115e-02 2.25005637e-02 2.59612104e+02] [-2.46042025e-02 9.99696576e-01 -1.17903615e-03 -1.06487888e+01] [-2.25227697e-02 6.24771624e-04 9.99746135e-01 -5.68798709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76439141799995 meters 0.02182395801099859 Centerline is valid? [True, True] Translation: X:259.67, Y:-10.65, Z:-5.69 [[ 9.99391906e-01 2.63131357e-02 2.28787692e-02 2.59674500e+02] [-2.62924339e-02 9.99653568e-01 -1.20523749e-03 -1.06534224e+01] [-2.29025568e-02 6.02966061e-04 9.99737520e-01 -5.68965876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82439141799995 meters 0.021753674685216634 Centerline is valid? [True, True] Translation: X:259.74, Y:-10.66, Z:-5.69 [[ 9.99331817e-01 2.90130013e-02 2.22298299e-02 2.59735823e+02] [-2.89939929e-02 9.99578893e-01 -1.17698181e-03 -1.06595647e+01] [-2.22546166e-02 5.31663835e-04 9.99752194e-01 -5.69174710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88439141799995 meters 0.02181535902954424 Centerline is valid? [True, True] Translation: X:259.80, Y:-10.67, Z:-5.69 [[ 9.99326169e-01 2.90374160e-02 2.24507758e-02 2.59798031e+02] [-2.90179060e-02 9.99578178e-01 -1.19437180e-03 -1.06652851e+01] [-2.24759871e-02 5.42092487e-04 9.99747236e-01 -5.69330550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94439141799995 meters 0.022665511529528497 Centerline is valid? [True, True] Translation: X:259.86, Y:-10.67, Z:-5.70 [[ 9.99433290e-01 2.57867333e-02 2.16366018e-02 2.59859679e+02] [-2.57677304e-02 9.99667288e-01 -1.15665863e-03 -1.06731660e+01] [-2.16592295e-02 5.98477014e-04 9.99765232e-01 -5.69587050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00439141799995 meters 0.025091563964178065 Centerline is valid? [True, True] Translation: X:259.92, Y:-10.68, Z:-5.70 [[ 9.99546497e-01 2.20239604e-02 2.05364253e-02 2.59920970e+02] [-2.20060183e-02 9.99757234e-01 -1.09927723e-03 -1.06821925e+01] [-2.05556502e-02 6.46853754e-04 9.99788501e-01 -5.69838382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06439141799996 meters 0.03062781855483587 Centerline is valid? [True, True] Translation: X:259.98, Y:-10.70, Z:-5.70 [[ 9.99703738e-01 1.21560510e-02 2.10871416e-02 2.59980782e+02] [-1.21348777e-02 9.99925729e-01 -1.13176125e-03 -1.06970428e+01] [-2.10993332e-02 8.75536071e-04 9.99777001e-01 -5.69886353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12439141799996 meters 0.034478291628169164 Centerline is valid? [True, True] Translation: X:260.04, Y:-10.71, Z:-5.70 [[ 9.99741432e-01 6.59102100e-03 2.17629914e-02 2.60041648e+02] [-6.56715115e-03 9.99977754e-01 -1.16809677e-03 -1.07071088e+01] [-2.17702062e-02 1.02487388e-03 9.99762476e-01 -5.69929106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18439141799996 meters 0.04116271093383852 Centerline is valid? [True, True] Translation: X:260.10, Y:-10.72, Z:-5.70 [[ 9.99742990e-01 -2.06391468e-04 2.26696183e-02 2.60100134e+02] [ 2.34052010e-04 9.99999231e-01 -1.21751266e-03 -1.07220307e+01] [-2.26693496e-02 1.22250561e-03 9.99742270e-01 -5.69988278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24439141799996 meters 0.03994143281524887 Centerline is valid? [True, True] Translation: X:260.16, Y:-10.72, Z:-5.70 [[ 9.99719745e-01 -3.60313552e-03 2.33976383e-02 2.60161264e+02] [ 3.63356087e-03 9.99992607e-01 -1.25797595e-03 -1.07247898e+01] [-2.33929327e-02 1.34264014e-03 9.99725446e-01 -5.70067748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30439141799997 meters 0.038423007559511675 Centerline is valid? [True, True] Translation: X:260.22, Y:-10.73, Z:-5.70 [[ 9.99745476e-01 -2.16208584e-03 2.24568109e-02 2.60223971e+02] [ 2.18976074e-03 9.99996873e-01 -1.20784368e-03 -1.07252201e+01] [-2.24541292e-02 1.25671130e-03 9.99747084e-01 -5.70249430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36439141799997 meters 0.03657930641945638 Centerline is valid? [True, True] Translation: X:260.28, Y:-10.72, Z:-5.70 [[ 9.99759731e-01 1.28654146e-03 2.18820654e-02 2.60284990e+02] [-1.26104304e-03 9.99998510e-01 -1.17902452e-03 -1.07240239e+01] [-2.18835497e-02 1.15114701e-03 9.99759864e-01 -5.70389870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42439141799997 meters 0.02939467404604646 Centerline is valid? [True, True] Translation: X:260.35, Y:-10.71, Z:-5.71 [[ 9.99756032e-01 9.91843991e-03 1.97357728e-02 2.60345788e+02] [-9.89936911e-03 9.99950434e-01 -1.06376926e-03 -1.07140097e+01] [-1.97453455e-02 8.68138040e-04 9.99804665e-01 -5.70549725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.484391418 meters 0.024035049722880588 Centerline is valid? [True, True] Translation: X:260.41, Y:-10.70, Z:-5.71 [[ 9.99590719e-01 2.15945042e-02 1.87635954e-02 2.60406771e+02] [-2.15793202e-02 9.99766628e-01 -1.01134643e-03 -1.07046294e+01] [-1.87810560e-02 6.06026874e-04 9.99823437e-01 -5.70604327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544391418 meters 0.0193602451397407 Centerline is valid? [True, True] Translation: X:260.47, Y:-10.69, Z:-5.71 [[ 9.99304812e-01 3.21527368e-02 1.88704439e-02 2.60468562e+02] [-3.21392609e-02 9.99482883e-01 -1.01704167e-03 -1.06947476e+01] [-1.88933863e-02 4.09852511e-04 9.99821420e-01 -5.70628084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604391418 meters 0.018184910613456652 Centerline is valid? [True, True] Translation: X:260.53, Y:-10.69, Z:-5.71 [[ 9.99164506e-01 3.64912563e-02 1.84032244e-02 2.60528441e+02] [-3.64791688e-02 9.99333921e-01 -9.92194548e-04 -1.06938993e+01] [-1.84271728e-02 3.20031247e-04 9.99830154e-01 -5.70754799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664391418 meters 0.018018971336205964 Centerline is valid? [True, True] Translation: X:260.59, Y:-10.70, Z:-5.71 [[ 9.99127474e-01 3.79246411e-02 1.74931977e-02 2.60586681e+02] [-3.79139490e-02 9.99280563e-01 -9.42569274e-04 -1.06951589e+01] [-1.75163591e-02 2.78510651e-04 9.99846538e-01 -5.70921873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724391418 meters 0.01806958826201888 Centerline is valid? [True, True] Translation: X:260.65, Y:-10.70, Z:-5.71 [[ 9.99233591e-01 3.55148303e-02 1.64598541e-02 2.60646431e+02] [-3.55050535e-02 9.99369104e-01 -8.85914275e-04 -1.06983005e+01] [-1.64809328e-02 3.00827301e-04 9.99864135e-01 -5.71090578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784391418 meters 0.021432139970781663 Centerline is valid? [True, True] Translation: X:260.71, Y:-10.71, Z:-5.71 [[ 9.99456976e-01 2.86766267e-02 1.62297334e-02 2.60705570e+02] [-2.86662326e-02 9.99588658e-01 -8.72759346e-04 -1.07088578e+01] [-1.62480852e-02 4.07040104e-04 9.99867908e-01 -5.71276745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844391418 meters 0.025216301761529152 Centerline is valid? [True, True] Translation: X:260.77, Y:-10.72, Z:-5.71 [[ 9.99637580e-01 2.15921794e-02 1.60775320e-02 2.60765006e+02] [-2.15810707e-02 9.99766728e-01 -8.64138170e-04 -1.07200291e+01] [-1.60924402e-02 5.16854634e-04 9.99870375e-01 -5.71414448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904391418 meters 0.027611854287598495 Centerline is valid? [True, True] Translation: X:260.83, Y:-10.73, Z:-5.72 [[ 9.99719143e-01 1.75949705e-02 1.58761622e-02 2.60825918e+02] [-1.75836387e-02 9.99845032e-01 -8.53079352e-04 -1.07273784e+01] [-1.58887118e-02 5.73679058e-04 9.99873602e-01 -5.71626335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964391418 meters 0.028861400119513887 Centerline is valid? [True, True] Translation: X:260.89, Y:-10.73, Z:-5.72 [[ 9.99793283e-01 1.36017112e-02 1.51124165e-02 2.60886406e+02] [-1.35909779e-02 9.99907308e-01 -8.12709393e-04 -1.07328767e+01] [-1.51220700e-02 6.07148873e-04 9.99885471e-01 -5.71831182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024391418 meters 0.03056848073047106 Centerline is valid? [True, True] Translation: X:260.95, Y:-10.74, Z:-5.72 [[ 9.99810431e-01 1.22554028e-02 1.51296891e-02 2.60947906e+02] [-1.22444994e-02 9.99924703e-01 -8.13088252e-04 -1.07387370e+01] [-1.51385146e-02 6.27678646e-04 9.99885209e-01 -5.71964237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084391418 meters 0.029878587964898413 Centerline is valid? [True, True] Translation: X:261.01, Y:-10.74, Z:-5.72 [[ 9.99800893e-01 1.21588108e-02 1.58220339e-02 2.61011428e+02] [-1.21468535e-02 9.99925862e-01 -8.51624876e-04 -1.07405320e+01] [-1.58312157e-02 6.59267384e-04 9.99874461e-01 -5.71971464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144391418 meters 0.031263875144981745 Centerline is valid? [True, True] Translation: X:261.07, Y:-10.74, Z:-5.72 [[ 9.99819920e-01 1.14839778e-02 1.51078220e-02 2.61072145e+02] [-1.14729210e-02 9.99933849e-01 -8.18327834e-04 -1.07433256e+01] [-1.51162203e-02 6.44849621e-04 9.99885535e-01 -5.72107113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20439141799994 meters 0.031833366699684666 Centerline is valid? [True, True] Translation: X:261.13, Y:-10.75, Z:-5.72 [[ 9.99826943e-01 1.11356316e-02 1.49023746e-02 2.61134018e+02] [-1.11247940e-02 9.99937790e-01 -8.09940431e-04 -1.07473016e+01] [-1.49104667e-02 6.44014417e-04 9.99888625e-01 -5.72315264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26439141799995 meters 0.03537248029120426 Centerline is valid? [True, True] Translation: X:261.19, Y:-10.75, Z:-5.73 [[ 9.99844451e-01 1.00553588e-02 1.44901167e-02 2.61194526e+02] [-1.00449428e-02 9.99949235e-01 -7.91437552e-04 -1.07549791e+01] [-1.44973393e-02 6.45762052e-04 9.99894700e-01 -5.72588132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32439141799995 meters 0.032659663457204585 Centerline is valid? [True, True] Translation: X:261.26, Y:-10.75, Z:-5.73 [[ 9.99887870e-01 7.17192300e-03 1.31457315e-02 2.61255856e+02] [-7.16304385e-03 9.99974084e-01 -7.22399588e-04 -1.07520305e+01] [-1.31505718e-02 6.28155135e-04 9.99913330e-01 -5.72694671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38439141799995 meters 0.033180349674000985 Centerline is valid? [True, True] Translation: X:261.32, Y:-10.75, Z:-5.73 [[ 9.99921846e-01 3.68068599e-03 1.19479672e-02 2.61316791e+02] [-3.67309144e-03 9.99993038e-01 -6.57516820e-04 -1.07537350e+01] [-1.19503042e-02 6.13579457e-04 9.99928404e-01 -5.72894545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44439141799995 meters 0.03510268965959677 Centerline is valid? [True, True] Translation: X:261.38, Y:-10.76, Z:-5.73 [[ 9.99914670e-01 1.16582703e-03 1.30112632e-02 2.61379263e+02] [-1.15661126e-03 9.99999075e-01 -7.15793375e-04 -1.07565881e+01] [-1.30120856e-02 7.00683323e-04 9.99915094e-01 -5.72862821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50439141799995 meters 0.035683917778540006 Centerline is valid? [True, True] Translation: X:261.44, Y:-10.76, Z:-5.73 [[ 9.99892396e-01 1.81135660e-03 1.45573371e-02 2.61441842e+02] [-1.79986836e-03 9.99998058e-01 -8.02234331e-04 -1.07579763e+01] [-1.45587620e-02 7.75946717e-04 9.99893715e-01 -5.72869735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56439141799996 meters 0.0331760238180319 Centerline is valid? [True, True] Translation: X:261.50, Y:-10.75, Z:-5.73 [[ 9.99837963e-01 5.91842498e-03 1.70005759e-02 2.61503370e+02] [-5.90331530e-03 9.99982135e-01 -9.38821026e-04 -1.07533603e+01] [-1.70058285e-02 8.38309143e-04 9.99855039e-01 -5.72715184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62439141799996 meters 0.027834993012588866 Centerline is valid? [True, True] Translation: X:261.56, Y:-10.74, Z:-5.73 [[ 9.99719649e-01 1.34496250e-02 1.94866965e-02 2.61564863e+02] [-1.34311899e-02 9.99909218e-01 -1.07661103e-03 -1.07435373e+01] [-1.94994075e-02 8.14579683e-04 9.99809537e-01 -5.72648753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68439141799996 meters 0.024248400371978587 Centerline is valid? [True, True] Translation: X:261.63, Y:-10.74, Z:-5.73 [[ 9.99577015e-01 2.06707292e-02 2.04575880e-02 2.61626023e+02] [-2.06519212e-02 9.99786087e-01 -1.13022829e-03 -1.07355002e+01] [-2.04765745e-02 7.07261729e-04 9.99790083e-01 -5.72644172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74439141799996 meters 0.0235390895533163 Centerline is valid? [True, True] Translation: X:261.69, Y:-10.73, Z:-5.73 [[ 9.99507104e-01 2.38969745e-02 2.03588571e-02 2.61686555e+02] [-2.38790087e-02 9.99714223e-01 -1.12513405e-03 -1.07342475e+01] [-2.03799263e-02 6.38430146e-04 9.99792104e-01 -5.72820251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80439141799997 meters 0.0223718758086244 Centerline is valid? [True, True] Translation: X:261.75, Y:-10.73, Z:-5.73 [[ 9.99451698e-01 2.62645533e-02 2.01612761e-02 2.61748506e+02] [-2.62474093e-02 9.99654856e-01 -1.11453853e-03 -1.07331182e+01] [-2.01835904e-02 5.84746161e-04 9.99796120e-01 -5.73008481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86439141799997 meters 0.020467723970776678 Centerline is valid? [True, True] Translation: X:261.81, Y:-10.73, Z:-5.73 [[ 9.99377206e-01 2.94246354e-02 1.94779828e-02 2.61810177e+02] [-2.94092106e-02 9.99566874e-01 -1.07794436e-03 -1.07296480e+01] [-1.95012645e-02 5.04440923e-04 9.99809705e-01 -5.73234556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92439141799997 meters 0.01940995983569444 Centerline is valid? [True, True] Translation: X:261.87, Y:-10.73, Z:-5.73 [[ 9.99277713e-01 3.31463767e-02 1.85841369e-02 2.61870050e+02] [-3.31329599e-02 9.99450423e-01 -1.02946964e-03 -1.07267613e+01] [-1.86080467e-02 4.12978604e-04 9.99826770e-01 -5.73479667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.984391418 meters 0.018166425952386007 Centerline is valid? [True, True] Translation: X:261.93, Y:-10.72, Z:-5.74 [[ 9.99168272e-01 3.61944671e-02 1.87809566e-02 2.61929176e+02] [-3.61813146e-02 9.99344701e-01 -1.03974089e-03 -1.07247452e+01] [-1.88062823e-02 3.59356405e-04 9.99823082e-01 -5.73592007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044391418 meters 0.01741611223643422 Centerline is valid? [True, True] Translation: X:261.99, Y:-10.72, Z:-5.74 [[ 9.99015843e-01 3.95647614e-02 2.00493062e-02 2.61987954e+02] [-3.95504855e-02 9.99216959e-01 -1.10821677e-03 -1.07233531e+01] [-2.00774531e-02 3.14166313e-04 9.99798378e-01 -5.73624994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104391418 meters 0.017320051304776176 Centerline is valid? [True, True] Translation: X:262.05, Y:-10.72, Z:-5.74 [[ 9.99023730e-01 3.92280623e-02 2.03161484e-02 2.62046338e+02] [-3.92133675e-02 9.99230231e-01 -1.12132683e-03 -1.07249255e+01] [-2.03444971e-02 3.23567521e-04 9.99792977e-01 -5.73828298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164391418 meters 0.017983350861223713 Centerline is valid? [True, True] Translation: X:262.10, Y:-10.73, Z:-5.74 [[ 9.99143941e-01 3.70914423e-02 1.83196651e-02 2.62104582e+02] [-3.70791587e-02 9.99311821e-01 -1.00984270e-03 -1.07282232e+01] [-1.83445144e-02 3.29700445e-04 9.99831671e-01 -5.74233859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224391418 meters 0.018622455097543424 Centerline is valid? [True, True] Translation: X:262.16, Y:-10.73, Z:-5.75 [[ 9.99221830e-01 3.57048836e-02 1.67599378e-02 2.62161937e+02] [-3.56944262e-02 9.99362325e-01 -9.22776611e-04 -1.07332372e+01] [-1.67821980e-02 3.23822172e-04 9.99859117e-01 -5.74621500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284391418 meters 0.01860490594333336 Centerline is valid? [True, True] Translation: X:262.22, Y:-10.74, Z:-5.75 [[ 9.99288815e-01 3.43311143e-02 1.55960886e-02 2.62220264e+02] [-3.43219149e-02 9.99410462e-01 -8.57211170e-04 -1.07366836e+01] [-1.56163231e-02 3.21313909e-04 9.99878006e-01 -5.74874470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344391418 meters 0.019266197796919276 Centerline is valid? [True, True] Translation: X:262.28, Y:-10.74, Z:-5.75 [[ 9.99349058e-01 3.29563495e-02 1.46744694e-02 2.62278701e+02] [-3.29480730e-02 9.99456740e-01 -8.05476221e-04 -1.07411308e+01] [-1.46930429e-02 3.21456414e-04 9.99892000e-01 -5.75093358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404391418 meters 0.019811389743979814 Centerline is valid? [True, True] Translation: X:262.34, Y:-10.75, Z:-5.75 [[ 9.99402879e-01 3.19005727e-02 1.32754818e-02 2.62337560e+02] [-3.18937181e-02 9.99491001e-01 -7.27785004e-04 -1.07461224e+01] [-1.32919414e-02 3.03945954e-04 9.99911612e-01 -5.75405510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464391418 meters 0.020554238963560942 Centerline is valid? [True, True] Translation: X:262.40, Y:-10.75, Z:-5.76 [[ 9.99469360e-01 2.98515723e-02 1.30338957e-02 2.62396294e+02] [-2.98448036e-02 9.99554290e-01 -7.13552690e-04 -1.07528301e+01] [-1.30493871e-02 3.24179992e-04 9.99914801e-01 -5.75719129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524391418 meters 0.020432303884272838 Centerline is valid? [True, True] Translation: X:262.46, Y:-10.76, Z:-5.76 [[ 9.99535516e-01 2.80683970e-02 1.18708400e-02 2.62455248e+02] [-2.80626683e-02 9.99605955e-01 -6.48917659e-04 -1.07579920e+01] [-1.18843764e-02 3.15488803e-04 9.99929329e-01 -5.75891459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584391418 meters 0.021200609250214584 Centerline is valid? [True, True] Translation: X:262.51, Y:-10.76, Z:-5.76 [[ 9.99590011e-01 2.66886885e-02 1.03693499e-02 2.62513594e+02] [-2.66842456e-02 9.99643752e-01 -5.66600699e-04 -1.07639595e+01] [-1.03807776e-02 2.89670121e-04 9.99946076e-01 -5.76148514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644391418 meters 0.022487075471967467 Centerline is valid? [True, True] Translation: X:262.57, Y:-10.77, Z:-5.77 [[ 9.99653723e-01 2.49281539e-02 8.42746233e-03 2.62571451e+02] [-2.49251622e-02 9.99689214e-01 -4.59853797e-04 -1.07725190e+01] [-8.43630650e-03 2.49638695e-04 9.99964383e-01 -5.76507560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70439141799994 meters 0.02300309549227953 Centerline is valid? [True, True] Translation: X:262.63, Y:-10.78, Z:-5.77 [[ 9.99709403e-01 2.31677659e-02 6.66068585e-03 2.62629314e+02] [-2.31658549e-02 9.99731569e-01 -3.63938700e-04 -1.07797324e+01] [-6.66732957e-03 2.09532458e-04 9.99977751e-01 -5.76810625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76439141799995 meters 0.023419206714955676 Centerline is valid? [True, True] Translation: X:262.69, Y:-10.78, Z:-5.77 [[ 9.99725838e-01 2.26755234e-02 5.83689252e-03 2.62687480e+02] [-2.26740511e-02 9.99742860e-01 -3.18289010e-04 -1.07848165e+01] [-5.84260899e-03 1.85855748e-04 9.99982915e-01 -5.76988243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82439141799995 meters 0.022761730804779987 Centerline is valid? [True, True] Translation: X:262.75, Y:-10.79, Z:-5.77 [[ 9.99676945e-01 2.45400899e-02 6.61737137e-03 2.62746527e+02] [-2.45382435e-02 9.99698827e-01 -3.60080948e-04 -1.07873290e+01] [-6.62421482e-03 1.97585951e-04 9.99978040e-01 -5.76964469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88439141799995 meters 0.022700924502725803 Centerline is valid? [True, True] Translation: X:262.80, Y:-10.79, Z:-5.77 [[ 9.99623513e-01 2.64933119e-02 7.13695577e-03 2.62804565e+02] [-2.64912170e-02 9.99648971e-01 -3.87922725e-04 -1.07902531e+01] [-7.14472785e-03 1.98710033e-04 9.99974456e-01 -5.77003255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94439141799995 meters 0.020434820526748085 Centerline is valid? [True, True] Translation: X:262.86, Y:-10.79, Z:-5.77 [[ 9.99546832e-01 2.89404486e-02 8.28136700e-03 2.62863077e+02] [-2.89377234e-02 9.99581116e-01 -4.48737436e-04 -1.07919522e+01] [-8.29088473e-03 2.08890175e-04 9.99965608e-01 -5.76903680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00439141799995 meters 0.02214406148271703 Centerline is valid? [True, True] Translation: X:262.92, Y:-10.80, Z:-5.77 [[ 9.99567882e-01 2.82066485e-02 8.27249474e-03 2.62920331e+02] [-2.82039074e-02 9.99602090e-01 -4.47853519e-04 -1.07989715e+01] [-8.28183548e-03 2.14343318e-04 9.99965682e-01 -5.77164579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06439141799996 meters 0.0206093734038421 Centerline is valid? [True, True] Translation: X:262.98, Y:-10.80, Z:-5.77 [[ 9.99623912e-01 2.60810814e-02 8.47414017e-03 2.62978776e+02] [-2.60781379e-02 9.99659803e-01 -4.57683245e-04 -1.08012772e+01] [-8.48319417e-03 2.36521320e-04 9.99963989e-01 -5.77082605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12439141799996 meters 0.021295965764684927 Centerline is valid? [True, True] Translation: X:263.04, Y:-10.81, Z:-5.77 [[ 9.99653526e-01 2.49916654e-02 8.26104157e-03 2.63037718e+02] [-2.49888362e-02 9.99687631e-01 -4.45541404e-04 -1.08057716e+01] [-8.26959590e-03 2.38953221e-04 9.99965778e-01 -5.77226971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18439141799996 meters 0.02449046020545276 Centerline is valid? [True, True] Translation: X:263.10, Y:-10.81, Z:-5.77 [[ 9.99715958e-01 2.22462377e-02 8.55028495e-03 2.63096122e+02] [-2.22431160e-02 9.99752485e-01 -4.60026700e-04 -1.08140375e+01] [-8.55840250e-03 2.69711053e-04 9.99963340e-01 -5.77461617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24439141799996 meters 0.024232845724328378 Centerline is valid? [True, True] Translation: X:263.16, Y:-10.82, Z:-5.78 [[ 9.99755676e-01 2.03523147e-02 8.62394445e-03 2.63156024e+02] [-2.03490742e-02 9.99792829e-01 -4.63336320e-04 -1.08171190e+01] [-8.63158778e-03 2.87733830e-04 9.99962706e-01 -5.77501446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30439141799997 meters 0.0258322706730121 Centerline is valid? [True, True] Translation: X:263.21, Y:-10.82, Z:-5.78 [[ 9.99770122e-01 1.85657506e-02 1.07245808e-02 2.63214113e+02] [-1.85606410e-02 9.99827571e-01 -5.75776870e-04 -1.08222560e+01] [-1.07334213e-02 3.76589417e-04 9.99942324e-01 -5.77524759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36439141799997 meters 0.02365164056135719 Centerline is valid? [True, True] Translation: X:263.27, Y:-10.82, Z:-5.77 [[ 9.99723704e-01 1.95768095e-02 1.30101400e-02 2.63273603e+02] [-1.95693907e-02 9.99808258e-01 -6.97300729e-04 -1.08203207e+01] [-1.30212964e-02 4.42507554e-04 9.99915121e-01 -5.77383141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42439141799997 meters 0.021345672054553743 Centerline is valid? [True, True] Translation: X:263.33, Y:-10.82, Z:-5.77 [[ 9.99593129e-01 2.48817966e-02 1.39453765e-02 2.63334270e+02] [-2.48738017e-02 9.99690320e-01 -7.46476957e-04 -1.08173211e+01] [-1.39596316e-02 3.99298708e-04 9.99902480e-01 -5.77433586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.484391418 meters 0.019950858789901865 Centerline is valid? [True, True] Translation: X:263.39, Y:-10.82, Z:-5.78 [[ 9.99467115e-01 2.88490297e-02 1.52714945e-02 2.63394079e+02] [-2.88399005e-02 9.99583709e-01 -8.17728328e-04 -1.08170226e+01] [-1.52887277e-02 3.76864192e-04 9.99883050e-01 -5.77518722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544391418 meters 0.017590302648102938 Centerline is valid? [True, True] Translation: X:263.45, Y:-10.82, Z:-5.78 [[ 9.99273550e-01 3.43859002e-02 1.64311182e-02 2.63454539e+02] [-3.43760933e-02 9.99408581e-01 -8.78997938e-04 -1.08153002e+01] [-1.64516256e-02 3.13521739e-04 9.99864614e-01 -5.77557463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604391418 meters 0.01690674791091575 Centerline is valid? [True, True] Translation: X:263.51, Y:-10.82, Z:-5.78 [[ 9.99190087e-01 3.65859817e-02 1.67522191e-02 2.63513275e+02] [-3.65760973e-02 9.99330469e-01 -8.96144292e-04 -1.08174692e+01] [-1.67737892e-02 2.82687698e-04 9.99859270e-01 -5.77753873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664391418 meters 0.016078114808003505 Centerline is valid? [True, True] Translation: X:263.57, Y:-10.82, Z:-5.78 [[ 9.99142020e-01 3.82335586e-02 1.59191404e-02 2.63572455e+02] [-3.82248604e-02 9.99268801e-01 -8.50429344e-04 -1.08187057e+01] [-1.59400153e-02 2.41192775e-04 9.99872921e-01 -5.77997409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724391418 meters 0.015979595388844695 Centerline is valid? [True, True] Translation: X:263.63, Y:-10.82, Z:-5.78 [[ 9.99112928e-01 3.90789057e-02 1.56906554e-02 2.63631609e+02] [-3.90705790e-02 9.99236103e-01 -8.36983233e-04 -1.08206447e+01] [-1.57113778e-02 2.23197776e-04 9.99876544e-01 -5.78188652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784391418 meters 0.0163601045398916 Centerline is valid? [True, True] Translation: X:263.69, Y:-10.82, Z:-5.78 [[ 9.99104505e-01 3.94428648e-02 1.53117275e-02 2.63689761e+02] [-3.94349948e-02 9.99221805e-01 -8.15693382e-04 -1.08236113e+01] [-1.53319853e-02 2.11145038e-04 9.99882436e-01 -5.78400622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844391418 meters 0.017708869383311156 Centerline is valid? [True, True] Translation: X:263.75, Y:-10.83, Z:-5.79 [[ 9.99190728e-01 3.72844033e-02 1.50917649e-02 2.63747785e+02] [-3.72765342e-02 9.99304666e-01 -8.02474270e-04 -1.08287029e+01] [-1.51111908e-02 2.39256160e-04 9.99885791e-01 -5.78564858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904391418 meters 0.018564349043247344 Centerline is valid? [True, True] Translation: X:263.81, Y:-10.83, Z:-5.79 [[ 9.99286458e-01 3.42295604e-02 1.59659724e-02 2.63806666e+02] [-3.42203917e-02 9.99413952e-01 -8.47193564e-04 -1.08338347e+01] [-1.59856146e-02 3.00227226e-04 9.99872177e-01 -5.78646957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964391418 meters 0.020741941505385574 Centerline is valid? [True, True] Translation: X:263.87, Y:-10.84, Z:-5.79 [[ 9.99437406e-01 2.96366972e-02 1.57015139e-02 2.63865844e+02] [-2.96272856e-02 9.99560670e-01 -8.31730202e-04 -1.08417376e+01] [-1.57192655e-02 3.66069040e-04 9.99876378e-01 -5.78805694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024391418 meters 0.02086445512859078 Centerline is valid? [True, True] Translation: X:263.93, Y:-10.84, Z:-5.79 [[ 9.99547312e-01 2.58546490e-02 1.53852936e-02 2.63925741e+02] [-2.58451735e-02 9.99665626e-01 -8.14425476e-04 -1.08448160e+01] [-1.54012058e-02 4.16421215e-04 9.99881308e-01 -5.78812861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084391418 meters 0.02332900635833515 Centerline is valid? [True, True] Translation: X:263.98, Y:-10.85, Z:-5.79 [[ 9.99579638e-01 2.44052958e-02 1.56502092e-02 2.63984412e+02] [-2.43953225e-02 9.99702047e-01 -8.27879562e-04 -1.08523186e+01] [-1.56657509e-02 4.45739651e-04 9.99877185e-01 -5.78957913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144391418 meters 0.021947787580622834 Centerline is valid? [True, True] Translation: X:264.04, Y:-10.85, Z:-5.79 [[ 9.99576811e-01 2.41877003e-02 1.61602536e-02 2.64043763e+02] [-2.41770536e-02 9.99707328e-01 -8.53896247e-04 -1.08521306e+01] [-1.61761777e-02 4.62827571e-04 9.99869050e-01 -5.78949898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20439141799994 meters 0.02109721520390473 Centerline is valid? [True, True] Translation: X:264.10, Y:-10.85, Z:-5.79 [[ 9.99530706e-01 2.55099031e-02 1.69591297e-02 2.64103876e+02] [-2.54983833e-02 9.99674463e-01 -8.95188677e-04 -1.08529355e+01] [-1.69764450e-02 4.62338183e-04 9.99855783e-01 -5.79034666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26439141799995 meters 0.02124284590312638 Centerline is valid? [True, True] Translation: X:264.16, Y:-10.86, Z:-5.79 [[ 9.99533259e-01 2.58316160e-02 1.63092516e-02 2.64163806e+02] [-2.58210051e-02 9.99666212e-01 -8.60884825e-04 -1.08565549e+01] [-1.63260458e-02 4.39361747e-04 9.99866625e-01 -5.79252097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32439141799995 meters 0.02165326759693382 Centerline is valid? [True, True] Translation: X:264.22, Y:-10.86, Z:-5.80 [[ 9.99585299e-01 2.51793632e-02 1.39724854e-02 2.64223358e+02] [-2.51715072e-02 9.99682875e-01 -7.37853620e-04 -1.08599088e+01] [-1.39866331e-02 3.85839113e-04 9.99902108e-01 -5.79597121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38439141799995 meters 0.023009681443457046 Centerline is valid? [True, True] Translation: X:264.28, Y:-10.86, Z:-5.80 [[ 9.99655235e-01 2.30579660e-02 1.25595058e-02 2.64282802e+02] [-2.30514565e-02 9.99734060e-01 -6.62830788e-04 -1.08637368e+01] [-1.25714492e-02 3.73087367e-04 9.99920907e-01 -5.79813736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44439141799995 meters 0.022776846817928978 Centerline is valid? [True, True] Translation: X:264.34, Y:-10.87, Z:-5.80 [[ 9.99697538e-01 2.16693423e-02 1.16306813e-02 2.64342541e+02] [-2.16636705e-02 9.99765127e-01 -6.13433343e-04 -1.08658605e+01] [-1.16412423e-02 3.61284554e-04 9.99932173e-01 -5.79923427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50439141799995 meters 0.02250052371881672 Centerline is valid? [True, True] Translation: X:264.40, Y:-10.87, Z:-5.80 [[ 9.99716191e-01 2.09055804e-02 1.14233881e-02 2.64401820e+02] [-2.09000642e-02 9.99781389e-01 -6.02066572e-04 -1.08671968e+01] [-1.14334774e-02 3.63146156e-04 9.99934570e-01 -5.79957135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56439141799996 meters 0.02261689889310825 Centerline is valid? [True, True] Translation: X:264.46, Y:-10.87, Z:-5.80 [[ 9.99689723e-01 2.15401726e-02 1.25091784e-02 2.64461319e+02] [-2.15336150e-02 9.99767908e-01 -6.58694017e-04 -1.08685346e+01] [-1.25204635e-02 3.89121807e-04 9.99921540e-01 -5.79872120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62439141799996 meters 0.022429388066514306 Centerline is valid? [True, True] Translation: X:264.52, Y:-10.87, Z:-5.80 [[ 9.99659959e-01 2.24282809e-02 1.33018102e-02 2.64520351e+02] [-2.24209528e-02 9.99748374e-01 -6.99801101e-04 -1.08700369e+01] [-1.33141584e-02 4.01323882e-04 9.99911282e-01 -5.79808921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68439141799996 meters 0.021963835982468333 Centerline is valid? [True, True] Translation: X:264.58, Y:-10.87, Z:-5.80 [[ 9.99678509e-01 2.20786665e-02 1.24664284e-02 2.64580373e+02] [-2.20722073e-02 9.99756164e-01 -6.55492730e-04 -1.08709545e+01] [-1.24778610e-02 3.80120404e-04 9.99922076e-01 -5.79913298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74439141799996 meters 0.02319761403958648 Centerline is valid? [True, True] Translation: X:264.64, Y:-10.87, Z:-5.80 [[ 9.99732506e-01 2.03075864e-02 1.10687973e-02 2.64639877e+02] [-2.03023898e-02 9.99793716e-01 -5.81651253e-04 -1.08745364e+01] [-1.10783259e-02 3.56772628e-04 9.99938570e-01 -5.80064607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80439141799997 meters 0.02347581758434607 Centerline is valid? [True, True] Translation: X:264.70, Y:-10.88, Z:-5.80 [[ 9.99768799e-01 1.92668586e-02 9.54656674e-03 2.64699235e+02] [-1.92629482e-02 9.99814326e-01 -5.01401783e-04 -1.08764251e+01] [-9.55445463e-03 3.17390839e-04 9.99954305e-01 -5.80149652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86439141799997 meters 0.024174892553377826 Centerline is valid? [True, True] Translation: X:264.76, Y:-10.88, Z:-5.80 [[ 9.99757297e-01 2.04539858e-02 8.18422634e-03 2.64758259e+02] [-2.04511511e-02 9.99790761e-01 -4.29909488e-04 -1.08778869e+01] [-8.19130724e-03 2.62428298e-04 9.99966416e-01 -5.80436327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92439141799997 meters 0.022682449189989747 Centerline is valid? [True, True] Translation: X:264.82, Y:-10.88, Z:-5.80 [[ 9.99718342e-01 2.26070535e-02 7.22205621e-03 2.64817314e+02] [-2.26049021e-02 9.99744405e-01 -3.79387142e-04 -1.08762871e+01] [-7.22878711e-03 2.16026410e-04 9.99973849e-01 -5.80493800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.984391418 meters 0.021782990412069703 Centerline is valid? [True, True] Translation: X:264.88, Y:-10.88, Z:-5.81 [[ 9.99693612e-01 2.37003509e-02 7.13967814e-03 2.64876584e+02] [-2.36982800e-02 9.99719086e-01 -3.74530362e-04 -1.08763763e+01] [-7.14654900e-03 2.05217518e-04 9.99974442e-01 -5.80540888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044391418 meters 0.021179813384005746 Centerline is valid? [True, True] Translation: X:264.93, Y:-10.88, Z:-5.81 [[ 9.99592985e-01 2.74903303e-02 7.62537628e-03 2.64934797e+02] [-2.74880818e-02 9.99622051e-01 -3.99538513e-04 -1.08750560e+01] [-7.63347772e-03 1.89768928e-04 9.99970847e-01 -5.80599374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104391418 meters 0.019773586184401355 Centerline is valid? [True, True] Translation: X:264.99, Y:-10.87, Z:-5.80 [[ 9.99545805e-01 2.88947503e-02 8.56023728e-03 2.64993645e+02] [-2.88919797e-02 9.99582440e-01 -4.47167925e-04 -1.08728618e+01] [-8.56958367e-03 1.99642621e-04 9.99963261e-01 -5.80415299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164391418 meters 0.02010236661183226 Centerline is valid? [True, True] Translation: X:265.05, Y:-10.88, Z:-5.81 [[ 9.99564142e-01 2.81210721e-02 8.98509986e-03 2.65052229e+02] [-2.81179959e-02 9.99604501e-01 -4.68539598e-04 -1.08759627e+01] [-8.99472210e-03 2.15692380e-04 9.99959523e-01 -5.80536232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224391418 meters 0.021767091130724694 Centerline is valid? [True, True] Translation: X:265.11, Y:-10.88, Z:-5.81 [[ 9.99681260e-01 2.41227748e-02 7.44780818e-03 2.65111899e+02] [-2.41205569e-02 9.99708982e-01 -3.87497258e-04 -1.08818116e+01] [-7.45498825e-03 2.07728466e-04 9.99972190e-01 -5.80894790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284391418 meters 0.026150468906159668 Centerline is valid? [True, True] Translation: X:265.17, Y:-10.89, Z:-5.81 [[ 9.99836938e-01 1.67360158e-02 6.78254141e-03 2.65170584e+02] [-1.67340079e-02 9.99859914e-01 -3.52681963e-04 -1.08919703e+01] [-6.78749377e-03 2.39125352e-04 9.99976936e-01 -5.81165988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344391418 meters 0.029011888072691113 Centerline is valid? [True, True] Translation: X:265.23, Y:-10.90, Z:-5.81 [[ 9.99932318e-01 9.12482398e-03 7.21777151e-03 2.65230743e+02] [-9.12235808e-03 9.99958320e-01 -3.74491767e-04 -1.08996714e+01] [-7.22088785e-03 3.08623325e-04 9.99973881e-01 -5.81195194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404391418 meters 0.03259471399469789 Centerline is valid? [True, True] Translation: X:265.29, Y:-10.91, Z:-5.81 [[ 9.99956130e-01 3.73840673e-03 8.58846695e-03 2.65291580e+02] [-3.73472078e-03 9.99992927e-01 -4.45171544e-04 -1.09078025e+01] [-8.59007044e-03 4.13076488e-04 9.99963019e-01 -5.81174848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464391418 meters 0.03516600105244836 Centerline is valid? [True, True] Translation: X:265.35, Y:-10.91, Z:-5.81 [[ 9.99953437e-01 1.84609496e-03 9.47184900e-03 2.65352371e+02] [-1.84155244e-03 9.99998185e-01 -4.88281006e-04 -1.09139383e+01] [-9.47273322e-03 4.70815364e-04 9.99955022e-01 -5.81290622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524391418 meters 0.03245263397920464 Centerline is valid? [True, True] Translation: X:265.41, Y:-10.91, Z:-5.81 [[ 9.99955824e-01 1.50896181e-03 9.27750910e-03 2.65414827e+02] [-1.50457253e-03 9.99998753e-01 -4.80070653e-04 -1.09138135e+01] [-9.27822194e-03 4.66090760e-04 9.99956848e-01 -5.81323251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584391418 meters 0.03225861693458865 Centerline is valid? [True, True] Translation: X:265.48, Y:-10.92, Z:-5.81 [[ 9.99951213e-01 2.18510491e-03 9.63315603e-03 2.65477400e+02] [-2.18035346e-03 9.99997496e-01 -5.03713798e-04 -1.09172977e+01] [-9.63423258e-03 4.82685538e-04 9.99953473e-01 -5.81345835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644391418 meters 0.031110082801716274 Centerline is valid? [True, True] Translation: X:265.54, Y:-10.92, Z:-5.82 [[ 9.99949133e-01 4.27258700e-03 9.13649415e-03 2.65538587e+02] [-4.26838528e-03 9.99990776e-01 -4.79333010e-04 -1.09199000e+01] [-9.13845787e-03 4.40310551e-04 9.99958146e-01 -5.81515293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70439141799994 meters 0.029826729678683703 Centerline is valid? [True, True] Translation: X:265.60, Y:-10.92, Z:-5.82 [[ 9.99928733e-01 8.94842220e-03 7.90282227e-03 2.65598413e+02] [-8.94541819e-03 9.99959903e-01 -4.15384867e-04 -1.09225525e+01] [-7.90622243e-03 3.44661213e-04 9.99968686e-01 -5.81856057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76439141799995 meters 0.025433812426724826 Centerline is valid? [True, True] Translation: X:265.66, Y:-10.92, Z:-5.82 [[ 9.99874054e-01 1.41582067e-02 7.17086986e-03 2.65659503e+02] [-1.41558682e-02 9.99899730e-01 -3.76766996e-04 -1.09185042e+01] [-7.17548518e-03 2.75209655e-04 9.99974218e-01 -5.81954363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82439141799995 meters 0.020289824012152402 Centerline is valid? [True, True] Translation: X:265.72, Y:-10.91, Z:-5.82 [[ 9.99646467e-01 2.57355206e-02 6.68017200e-03 2.65720269e+02] [-2.57337477e-02 9.99668771e-01 -3.51243877e-04 -1.09112314e+01] [-6.68699877e-03 1.79213840e-04 9.99977626e-01 -5.82035264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88439141799995 meters 0.015720221387938667 Centerline is valid? [True, True] Translation: X:265.78, Y:-10.90, Z:-5.82 [[ 9.99133036e-01 4.10039195e-02 7.20103318e-03 2.65781620e+02] [-4.10022556e-02 9.99158982e-01 -3.78594881e-04 -1.09018645e+01] [-7.21050085e-03 8.30080501e-05 9.99974001e-01 -5.82118175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94439141799995 meters 0.014539978218712243 Centerline is valid? [True, True] Translation: X:265.84, Y:-10.90, Z:-5.82 [[ 9.98616481e-01 5.20497073e-02 7.48012408e-03 2.65840606e+02] [-5.20482137e-02 9.98644495e-01 -3.94341238e-04 -1.08950730e+01] [-7.49051009e-03 4.46856227e-06 9.99971946e-01 -5.82181995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00439141799995 meters 0.016462862287279875 Centerline is valid? [True, True] Translation: X:265.90, Y:-10.89, Z:-5.82 [[ 9.97847042e-01 6.49597385e-02 9.02846525e-03 2.65899790e+02] [-6.49580774e-02 9.97887880e-01 -4.77409403e-04 -1.08867899e+01] [-9.04040844e-03 -1.10090184e-04 9.99959129e-01 -5.82173357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06439141799996 meters 0.01837250274327657 Centerline is valid? [True, True] Translation: X:265.96, Y:-10.89, Z:-5.82 [[ 9.97490946e-01 7.00521697e-02 1.02228147e-02 2.65957812e+02] [-7.00503598e-02 9.97543313e-01 -5.35437613e-04 -1.08869990e+01] [-1.02352090e-02 -1.82017674e-04 9.99947602e-01 -5.82274841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12439141799996 meters 0.017635386069506872 Centerline is valid? [True, True] Translation: X:266.02, Y:-10.89, Z:-5.82 [[ 9.97627120e-01 6.80316157e-02 1.05748956e-02 2.66016458e+02] [-6.80295911e-02 9.97683151e-01 -5.51463850e-04 -1.08937703e+01] [-1.05879122e-02 -1.69250534e-04 9.99943932e-01 -5.82462567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18439141799996 meters 0.014692464437716107 Centerline is valid? [True, True] Translation: X:266.07, Y:-10.91, Z:-5.83 [[ 9.98309055e-01 5.72752066e-02 9.92883376e-03 2.66074823e+02] [-5.72728760e-02 9.98358427e-01 -5.19147441e-04 -1.09095866e+01] [-9.94226913e-03 -5.03832737e-05 9.99950573e-01 -5.82777920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24439141799996 meters 0.014292150502087273 Centerline is valid? [True, True] Translation: X:266.13, Y:-10.93, Z:-5.83 [[ 9.98873561e-01 4.65871586e-02 9.01365854e-03 2.66132759e+02] [-4.65848372e-02 9.98914228e-01 -4.67431464e-04 -1.09258515e+01] [-9.02564807e-03 4.70051150e-05 9.99959267e-01 -5.83034011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30439141799997 meters 0.0206587671641331 Centerline is valid? [True, True] Translation: X:266.19, Y:-10.96, Z:-5.83 [[ 9.99641590e-01 2.49741766e-02 9.64276487e-03 2.66191968e+02] [-2.49705307e-02 9.99688063e-01 -4.98325600e-04 -1.09557998e+01] [-9.65220221e-03 2.57362039e-04 9.99953383e-01 -5.83155963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36439141799997 meters 0.02441455966782534 Centerline is valid? [True, True] Translation: X:266.25, Y:-10.97, Z:-5.83 [[ 9.99783775e-01 1.72198215e-02 1.16567765e-02 2.66251942e+02] [-1.72139684e-02 9.99851647e-01 -6.02273601e-04 -1.09695973e+01] [-1.16654182e-02 4.01483992e-04 9.99931876e-01 -5.83152339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42439141799997 meters 0.02855921749081734 Centerline is valid? [True, True] Translation: X:266.31, Y:-10.98, Z:-5.83 [[ 9.99816340e-01 1.18568845e-02 1.50565962e-02 2.66311284e+02] [-1.18465211e-02 9.99929525e-01 -7.77300611e-04 -1.09840422e+01] [-1.50647515e-02 5.98789567e-04 9.99886341e-01 -5.83117109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.484391418 meters 0.026387942006237227 Centerline is valid? [True, True] Translation: X:266.37, Y:-10.99, Z:-5.83 [[ 9.99784615e-01 1.33293910e-02 1.59076032e-02 2.66373398e+02] [-1.33180024e-02 9.99910974e-01 -8.21645783e-04 -1.09885499e+01] [-1.59171391e-02 6.09611314e-04 9.99873128e-01 -5.83191442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544391418 meters 0.02469187970063947 Centerline is valid? [True, True] Translation: X:266.43, Y:-10.99, Z:-5.83 [[ 9.99740919e-01 1.60212685e-02 1.61682922e-02 2.66434686e+02] [-1.60097581e-02 9.99871482e-01 -8.41102066e-04 -1.09917769e+01] [-1.61796898e-02 5.82033706e-04 9.99868931e-01 -5.83337025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604391418 meters 0.022131797282071413 Centerline is valid? [True, True] Translation: X:266.50, Y:-10.99, Z:-5.84 [[ 9.99667865e-01 2.03438780e-02 1.58204492e-02 2.66495914e+02] [-2.03333884e-02 9.99792916e-01 -8.23623320e-04 -1.09943012e+01] [-1.58339287e-02 5.01666427e-04 9.99874510e-01 -5.83524688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664391418 meters 0.02008552887334113 Centerline is valid? [True, True] Translation: X:266.56, Y:-11.00, Z:-5.84 [[ 9.99589453e-01 2.49491141e-02 1.40878106e-02 2.66556777e+02] [-2.49412443e-02 9.99688649e-01 -7.34064395e-04 -1.09968414e+01] [-1.41017386e-02 3.82395501e-04 9.99900492e-01 -5.83861190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724391418 meters 0.01943587046681347 Centerline is valid? [True, True] Translation: X:266.62, Y:-11.00, Z:-5.84 [[ 9.99530859e-01 2.74909042e-02 1.35022884e-02 2.66616625e+02] [-2.74838963e-02 9.99621998e-01 -7.04329314e-04 -1.10003682e+01] [-1.35165472e-02 3.32903389e-04 9.99908592e-01 -5.84126897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784391418 meters 0.018177828766876864 Centerline is valid? [True, True] Translation: X:266.67, Y:-11.00, Z:-5.84 [[ 9.99413542e-01 3.15776606e-02 1.32447138e-02 2.66674901e+02] [-3.15712809e-02 9.99501264e-01 -6.90543574e-04 -1.10023273e+01] [-1.32599139e-02 2.71986020e-04 9.99912046e-01 -5.84307176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844391418 meters 0.016697145462181828 Centerline is valid? [True, True] Translation: X:266.73, Y:-11.00, Z:-5.84 [[ 9.99225336e-01 3.73993535e-02 1.22480957e-02 2.66733438e+02] [-3.73943405e-02 9.99300383e-01 -6.38127827e-04 -1.10013301e+01] [-1.22633923e-02 1.79624032e-04 9.99924786e-01 -5.84468217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904391418 meters 0.01609878040673847 Centerline is valid? [True, True] Translation: X:266.79, Y:-11.00, Z:-5.85 [[ 9.99157928e-01 3.92624182e-02 1.19121079e-02 2.66792300e+02] [-3.92578192e-02 9.99228922e-01 -6.19745662e-04 -1.10031396e+01] [-1.19272554e-02 1.51580414e-04 9.99928856e-01 -5.84600027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964391418 meters 0.015022698306607386 Centerline is valid? [True, True] Translation: X:266.85, Y:-11.00, Z:-5.85 [[ 9.99008087e-01 4.26881225e-02 1.26714741e-02 2.66850779e+02] [-4.26832075e-02 9.99088440e-01 -6.58195185e-04 -1.10044192e+01] [-1.26880204e-02 1.16683154e-04 9.99919497e-01 -5.84586043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024391418 meters 0.015020561856829368 Centerline is valid? [True, True] Translation: X:266.91, Y:-11.01, Z:-5.85 [[ 9.98956735e-01 4.31466907e-02 1.49600928e-02 2.66908081e+02] [-4.31399117e-02 9.99068740e-01 -7.75701541e-04 -1.10096563e+01] [-1.49796301e-02 1.29515195e-04 9.99887791e-01 -5.84528380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084391418 meters 0.014772979282816508 Centerline is valid? [True, True] Translation: X:266.97, Y:-11.01, Z:-5.84 [[ 9.98862948e-01 4.46495161e-02 1.67102301e-02 2.66965454e+02] [-4.46412998e-02 9.99002706e-01 -8.64567852e-04 -1.10135206e+01] [-1.67321676e-02 1.17618401e-04 9.99860001e-01 -5.84492207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144391418 meters 0.014435561589124037 Centerline is valid? [True, True] Translation: X:267.02, Y:-11.02, Z:-5.85 [[ 9.98791289e-01 4.59429673e-02 1.74701042e-02 2.67024028e+02] [-4.59342168e-02 9.98944060e-01 -9.02034834e-04 -1.10171619e+01] [-1.74930990e-02 9.84689782e-05 9.99846979e-01 -5.84556813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20439141799994 meters 0.01431822256483088 Centerline is valid? [True, True] Translation: X:267.08, Y:-11.02, Z:-5.85 [[ 9.98795104e-01 4.59076603e-02 1.73443809e-02 2.67081302e+02] [-4.58990513e-02 9.98945683e-01 -8.94317700e-04 -1.10238213e+01] [-1.73671505e-02 9.71495110e-05 9.99849175e-01 -5.84754711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26439141799995 meters 0.014873012563782297 Centerline is valid? [True, True] Translation: X:267.14, Y:-11.03, Z:-5.85 [[ 9.98906393e-01 4.36499933e-02 1.67540005e-02 2.67140169e+02] [-4.36416697e-02 9.99046876e-01 -8.62275697e-04 -1.10314219e+01] [-1.67756702e-02 1.30160150e-04 9.99859270e-01 -5.84963758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32439141799995 meters 0.0161680161364627 Centerline is valid? [True, True] Translation: X:267.20, Y:-11.04, Z:-5.85 [[ 9.99161312e-01 3.81740201e-02 1.48127570e-02 2.67197836e+02] [-3.81669214e-02 9.99271087e-01 -7.61731017e-04 -1.10426798e+01] [-1.48310381e-02 1.95734830e-04 9.99889995e-01 -5.85232610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38439141799995 meters 0.018462976414264417 Centerline is valid? [True, True] Translation: X:267.26, Y:-11.05, Z:-5.85 [[ 9.99386218e-01 3.23646278e-02 1.34058810e-02 2.67257140e+02] [-3.23583161e-02 9.99476096e-01 -6.87509395e-04 -1.10544936e+01] [-1.34211086e-02 2.53295680e-04 9.99909901e-01 -5.85415858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44439141799995 meters 0.020200368888168282 Centerline is valid? [True, True] Translation: X:267.32, Y:-11.06, Z:-5.86 [[ 9.99523216e-01 2.82076820e-02 1.25565298e-02 2.67316129e+02] [-2.82018222e-02 9.99602042e-01 -6.43531671e-04 -1.10634736e+01] [-1.25696854e-02 2.89107825e-04 9.99920957e-01 -5.85534854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50439141799995 meters 0.020764222515386493 Centerline is valid? [True, True] Translation: X:267.38, Y:-11.07, Z:-5.86 [[ 9.99579461e-01 2.65916615e-02 1.15665302e-02 2.67375437e+02] [-2.65865855e-02 9.99646339e-01 -5.92416307e-04 -1.10699747e+01] [-1.15781929e-02 2.84652630e-04 9.99932930e-01 -5.85671958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56439141799996 meters 0.0222057806748629 Centerline is valid? [True, True] Translation: X:267.43, Y:-11.08, Z:-5.86 [[ 9.99620234e-01 2.47715365e-02 1.20730288e-02 2.67433235e+02] [-2.47658847e-02 9.99693088e-01 -6.17439385e-04 -1.10779486e+01] [-1.20846184e-02 3.18205663e-04 9.99926928e-01 -5.85732534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62439141799996 meters 0.02063447296404048 Centerline is valid? [True, True] Translation: X:267.49, Y:-11.08, Z:-5.86 [[ 9.99608336e-01 2.50846492e-02 1.24070136e-02 2.67493025e+02] [-2.50786986e-02 9.99685278e-01 -6.34991640e-04 -1.10795006e+01] [-1.24190374e-02 3.23591182e-04 9.99922828e-01 -5.85659625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68439141799996 meters 0.01919841160638618 Centerline is valid? [True, True] Translation: X:267.55, Y:-11.08, Z:-5.86 [[ 9.99526353e-01 2.84013688e-02 1.18503778e-02 2.67552685e+02] [-2.83961783e-02 9.99596563e-01 -6.06070123e-04 -1.10820717e+01] [-1.18628101e-02 2.69277620e-04 9.99929598e-01 -5.85825553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74439141799996 meters 0.018388598679628703 Centerline is valid? [True, True] Translation: X:267.61, Y:-11.08, Z:-5.86 [[ 9.99446492e-01 3.07952205e-02 1.25842904e-02 2.67611413e+02] [-3.07895591e-02 9.99525682e-01 -6.43413612e-04 -1.10846831e+01] [-1.25981356e-02 2.55592723e-04 9.99920608e-01 -5.85943127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80439141799997 meters 0.017129520600216795 Centerline is valid? [True, True] Translation: X:267.67, Y:-11.09, Z:-5.86 [[ 9.99361562e-01 3.33517649e-02 1.28112161e-02 2.67670232e+02] [-3.33461205e-02 9.99443650e-01 -6.53996983e-04 -1.10871429e+01] [-1.28259005e-02 2.26375090e-04 9.99917719e-01 -5.86038018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86439141799997 meters 0.016729688743896295 Centerline is valid? [True, True] Translation: X:267.73, Y:-11.09, Z:-5.86 [[ 9.99350551e-01 3.39817669e-02 1.19881587e-02 2.67729174e+02] [-3.39768797e-02 9.99422432e-01 -6.11160074e-04 -1.10912909e+01] [-1.20020031e-02 2.03442929e-04 9.99927953e-01 -5.86269968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92439141799997 meters 0.01709062664155126 Centerline is valid? [True, True] Translation: X:267.79, Y:-11.10, Z:-5.87 [[ 9.99409911e-01 3.26621520e-02 1.06308193e-02 2.67787485e+02] [-3.26582409e-02 9.99466431e-01 -5.41340494e-04 -1.10981056e+01] [-1.06428284e-02 1.93837196e-04 9.99943345e-01 -5.86641639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.984391418 meters 0.01739558175142583 Centerline is valid? [True, True] Translation: X:267.85, Y:-11.10, Z:-5.87 [[ 9.99452669e-01 3.13006609e-02 1.07065450e-02 2.67845831e+02] [-3.12966250e-02 9.99509992e-01 -5.44333380e-04 -1.11046774e+01] [-1.07183367e-02 2.08956725e-04 9.99942535e-01 -5.86784049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044391418 meters 0.017781463487190487 Centerline is valid? [True, True] Translation: X:267.90, Y:-11.11, Z:-5.87 [[ 9.99449669e-01 3.10522667e-02 1.16668817e-02 2.67904907e+02] [-3.10474701e-02 9.99517736e-01 -5.92066468e-04 -1.11100421e+01] [-1.16796402e-02 2.29513476e-04 9.99931764e-01 -5.86827958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104391418 meters 0.017479669690812723 Centerline is valid? [True, True] Translation: X:267.96, Y:-11.12, Z:-5.87 [[ 9.99424163e-01 3.10000660e-02 1.37963483e-02 2.67963424e+02] [-3.09933726e-02 9.99519346e-01 -6.98753955e-04 -1.11156493e+01] [-1.38113784e-02 2.70756224e-04 9.99904582e-01 -5.86757179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164391418 meters 0.01795270294358178 Centerline is valid? [True, True] Translation: X:268.02, Y:-11.12, Z:-5.87 [[ 9.99421217e-01 2.97753500e-02 1.64517336e-02 2.68022506e+02] [-2.97656964e-02 9.99556558e-01 -8.31393581e-04 -1.11235252e+01] [-1.64691932e-02 3.41215078e-04 9.99864315e-01 -5.86747328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224391418 meters 0.018762328874212197 Centerline is valid? [True, True] Translation: X:268.08, Y:-11.13, Z:-5.87 [[ 9.99448295e-01 2.85738944e-02 1.69304065e-02 2.68081594e+02] [-2.85635147e-02 9.99591614e-01 -8.54626015e-04 -1.11316069e+01] [-1.69479123e-02 3.70562600e-04 9.99856305e-01 -5.86946223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284391418 meters 0.019132603089549578 Centerline is valid? [True, True] Translation: X:268.14, Y:-11.14, Z:-5.87 [[ 9.99472767e-01 2.83097720e-02 1.58979782e-02 2.68142162e+02] [-2.83005843e-02 9.99599136e-01 -8.02640935e-04 -1.11378035e+01] [-1.59143279e-02 3.52295682e-04 9.99873297e-01 -5.87189705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344391418 meters 0.019216646384254937 Centerline is valid? [True, True] Translation: X:268.20, Y:-11.14, Z:-5.87 [[ 9.99443880e-01 2.93760851e-02 1.57789851e-02 2.68202129e+02] [-2.93671705e-02 9.99568374e-01 -7.96428240e-04 -1.11440084e+01] [-1.57955704e-02 3.32601185e-04 9.99875187e-01 -5.87435300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404391418 meters 0.018772750506916805 Centerline is valid? [True, True] Translation: X:268.26, Y:-11.15, Z:-5.88 [[ 9.99385118e-01 3.10963318e-02 1.61988613e-02 2.68262192e+02] [-3.10871237e-02 9.99516342e-01 -8.19997135e-04 -1.11478377e+01] [-1.62165255e-02 3.15916927e-04 9.99868454e-01 -5.87543539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464391418 meters 0.018056696866789755 Centerline is valid? [True, True] Translation: X:268.32, Y:-11.15, Z:-5.88 [[ 9.99348130e-01 3.22144827e-02 1.62954763e-02 2.68322582e+02] [-3.22053197e-02 9.99480934e-01 -8.24476341e-04 -1.11518285e+01] [-1.63135780e-02 2.99137863e-04 9.99866880e-01 -5.87716337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524391418 meters 0.017793459254797514 Centerline is valid? [True, True] Translation: X:268.38, Y:-11.16, Z:-5.88 [[ 9.99338745e-01 3.22601367e-02 1.67736813e-02 2.68382132e+02] [-3.22504311e-02 9.99479459e-01 -8.48870342e-04 -1.11571638e+01] [-1.67923345e-02 3.07350572e-04 9.99858952e-01 -5.87851903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584391418 meters 0.01933837895752569 Centerline is valid? [True, True] Translation: X:268.44, Y:-11.17, Z:-5.88 [[ 9.99374579e-01 3.08455363e-02 1.72917035e-02 2.68441265e+02] [-3.08350236e-02 9.99524105e-01 -8.74313214e-04 -1.11651912e+01] [-1.73104431e-02 3.40576317e-04 9.99850105e-01 -5.88009137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644391418 meters 0.020827094109219926 Centerline is valid? [True, True] Translation: X:268.50, Y:-11.17, Z:-5.88 [[ 9.99498578e-01 2.62653716e-02 1.76839859e-02 2.68501718e+02] [-2.62536687e-02 9.99654914e-01 -8.93646961e-04 -1.11741812e+01] [-1.77013554e-02 4.28929359e-04 9.99843227e-01 -5.88092047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70439141799994 meters 0.023440428433531574 Centerline is valid? [True, True] Translation: X:268.56, Y:-11.19, Z:-5.88 [[ 9.99646453e-01 1.91057960e-02 1.84915777e-02 2.68562347e+02] [-1.90917689e-02 9.99817299e-01 -9.34820476e-04 -1.11856717e+01] [-1.85060598e-02 5.81453045e-04 9.99828579e-01 -5.88186102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76439141799995 meters 0.031554119648807624 Centerline is valid? [True, True] Translation: X:268.62, Y:-11.20, Z:-5.88 [[ 9.99746742e-01 1.15705496e-02 1.93021814e-02 2.68621332e+02] [-1.15538557e-02 9.99932776e-01 -9.76167451e-04 -1.12047376e+01] [-1.93121786e-02 7.52905611e-04 9.99813219e-01 -5.88391332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82439141799995 meters 0.028146061498259847 Centerline is valid? [True, True] Translation: X:268.68, Y:-11.20, Z:-5.89 [[ 9.99769472e-01 9.74131192e-03 1.91340140e-02 2.68683054e+02] [-9.72457512e-03 9.99952247e-01 -9.67565623e-04 -1.12045375e+01] [-1.91425256e-02 7.81272415e-04 9.99816460e-01 -5.88517142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88439141799995 meters 0.03496367533626472 Centerline is valid? [True, True] Translation: X:268.74, Y:-11.22, Z:-5.89 [[ 9.99817071e-01 4.80138843e-03 1.85140949e-02 2.68742154e+02] [-4.78477700e-03 9.99988110e-01 -9.41424154e-04 -1.12190296e+01] [-1.85183949e-02 8.52666124e-04 9.99828156e-01 -5.88827497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94439141799995 meters 0.031620564553424005 Centerline is valid? [True, True] Translation: X:268.80, Y:-11.22, Z:-5.89 [[ 9.99824099e-01 2.56995365e-03 1.85786690e-02 2.68804073e+02] [-2.55282840e-03 9.99996295e-01 -9.45427111e-04 -1.12188314e+01] [-1.85810299e-02 8.97832656e-04 9.99826955e-01 -5.88977384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00439141799995 meters 0.03265874413207036 Centerline is valid? [True, True] Translation: X:268.87, Y:-11.22, Z:-5.89 [[ 9.99812753e-01 -3.45547159e-04 1.93478547e-02 2.68865218e+02] [ 3.64778129e-04 9.99999443e-01 -9.90438476e-04 -1.12226853e+01] [-1.93475017e-02 9.97310694e-04 9.99812322e-01 -5.89034850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06439141799996 meters 0.03453051001322426 Centerline is valid? [True, True] Translation: X:268.93, Y:-11.23, Z:-5.89 [[ 9.99815470e-01 -4.01758171e-03 1.87852257e-02 2.68926485e+02] [ 4.03637028e-03 9.99991391e-01 -9.62369459e-04 -1.12259312e+01] [-1.87811976e-02 1.03801600e-03 9.99823079e-01 -5.89189074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12439141799996 meters 0.03667206022746127 Centerline is valid? [True, True] Translation: X:268.99, Y:-11.23, Z:-5.89 [[ 9.99817343e-01 -5.52527966e-03 1.82962070e-02 2.68988069e+02] [ 5.54335244e-03 9.99984196e-01 -9.37219729e-04 -1.12308239e+01] [-1.82907394e-02 1.03847086e-03 9.99832171e-01 -5.89426060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18439141799996 meters 0.03873194640210733 Centerline is valid? [True, True] Translation: X:269.05, Y:-11.23, Z:-5.90 [[ 9.99810878e-01 -8.25836370e-03 1.76070427e-02 2.69049446e+02] [ 8.27561662e-03 9.99965345e-01 -9.07251314e-04 -1.12339887e+01] [-1.75989401e-02 1.05278887e-03 9.99844572e-01 -5.89754938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24439141799996 meters 0.04012824671630888 Centerline is valid? [True, True] Translation: X:269.11, Y:-11.24, Z:-5.90 [[ 9.99814132e-01 -9.12098314e-03 1.69855286e-02 2.69111074e+02] [ 9.13717263e-03 9.99957872e-01 -8.75771460e-04 -1.12361816e+01] [-1.69768251e-02 1.03080839e-03 9.99855352e-01 -5.89965793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30439141799997 meters 0.04186289161503268 Centerline is valid? [True, True] Translation: X:269.17, Y:-11.24, Z:-5.90 [[ 9.99816672e-01 -9.43650800e-03 1.66605473e-02 2.69173082e+02] [ 9.45214189e-03 9.99954958e-01 -8.59881625e-04 -1.12380701e+01] [-1.66516826e-02 1.01720184e-03 9.99860834e-01 -5.90215965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36439141799997 meters 0.040774026658241265 Centerline is valid? [True, True] Translation: X:269.23, Y:-11.23, Z:-5.90 [[ 9.99807297e-01 -6.56193903e-03 1.85016361e-02 2.69234493e+02] [ 6.58076321e-03 9.99977889e-01 -9.56733176e-04 -1.12348458e+01] [-1.84949490e-02 1.07830370e-03 9.99828372e-01 -5.90175636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42439141799997 meters 0.03694286959075679 Centerline is valid? [True, True] Translation: X:269.29, Y:-11.23, Z:-5.90 [[ 9.99777663e-01 1.51932252e-03 2.10313358e-02 2.69294288e+02] [-1.49676966e-03 9.99998288e-01 -1.08804561e-03 -1.12257264e+01] [-2.10329529e-02 1.05632463e-03 9.99778225e-01 -5.90070103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.484391418 meters 0.028091911005298176 Centerline is valid? [True, True] Translation: X:269.36, Y:-11.21, Z:-5.90 [[ 9.99634658e-01 1.54814540e-02 2.21556823e-02 2.69355607e+02] [-1.54598572e-02 9.99879833e-01 -1.14573541e-03 -1.12088142e+01] [-2.21707575e-02 8.02793140e-04 9.99753876e-01 -5.90130822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544391418 meters 0.02099948874872612 Centerline is valid? [True, True] Translation: X:269.42, Y:-11.20, Z:-5.90 [[ 9.99421121e-01 2.55023082e-02 2.25178788e-02 2.69416744e+02] [-2.54825366e-02 9.99674589e-01 -1.16459725e-03 -1.11960110e+01] [-2.25402512e-02 5.90110415e-04 9.99745762e-01 -5.90245224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604391418 meters 0.0155497476145767 Centerline is valid? [True, True] Translation: X:269.48, Y:-11.18, Z:-5.90 [[ 9.99055477e-01 3.73172245e-02 2.22615826e-02 2.69478185e+02] [-3.73008296e-02 9.99303419e-01 -1.15139757e-03 -1.11822188e+01] [-2.22890426e-02 3.19934548e-04 9.99751517e-01 -5.90406240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664391418 meters 0.014605059014085852 Centerline is valid? [True, True] Translation: X:269.54, Y:-11.18, Z:-5.91 [[ 9.98854408e-01 4.32752066e-02 2.04236906e-02 2.69537642e+02] [-4.32626425e-02 9.99063175e-01 -1.05681711e-03 -1.11787807e+01] [-2.04502911e-02 1.72023610e-04 9.99790856e-01 -5.90789699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724391418 meters 0.014115675423069301 Centerline is valid? [True, True] Translation: X:269.60, Y:-11.18, Z:-5.91 [[ 9.98825971e-01 4.42040517e-02 1.98161673e-02 2.69596888e+02] [-4.41923881e-02 9.99022512e-01 -1.02632166e-03 -1.11787353e+01] [-1.98421648e-02 1.49392976e-04 9.99803114e-01 -5.91024436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784391418 meters 0.014463380306861704 Centerline is valid? [True, True] Translation: X:269.66, Y:-11.18, Z:-5.91 [[ 9.98878348e-01 4.30552756e-02 1.97050784e-02 2.69655643e+02] [-4.30435495e-02 9.99072677e-01 -1.01902168e-03 -1.11796604e+01] [-1.97306797e-02 1.69702174e-04 9.99805317e-01 -5.91242778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844391418 meters 0.015234058539683055 Centerline is valid? [True, True] Translation: X:269.71, Y:-11.18, Z:-5.91 [[ 9.98932439e-01 4.08245267e-02 2.16180407e-02 2.69713759e+02] [-4.08099308e-02 9.99166304e-01 -1.11609485e-03 -1.11846728e+01] [-2.16455818e-02 2.32672612e-04 9.99765680e-01 -5.91352665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904391418 meters 0.01659616264576171 Centerline is valid? [True, True] Translation: X:269.77, Y:-11.19, Z:-5.92 [[ 9.99054430e-01 3.74324819e-02 2.21146080e-02 2.69773538e+02] [-3.74164054e-02 9.99299110e-01 -1.14043888e-03 -1.11907437e+01] [-2.21417976e-02 3.11911379e-04 9.99754792e-01 -5.91584690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964391418 meters 0.0167787116583292 Centerline is valid? [True, True] Translation: X:269.83, Y:-11.19, Z:-5.92 [[ 9.99146217e-01 3.50779222e-02 2.18260382e-02 2.69833390e+02] [-3.50617185e-02 9.99384516e-01 -1.12475433e-03 -1.11944954e+01] [-2.18520586e-02 3.58535630e-04 9.99761151e-01 -5.91750932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024391418 meters 0.017939480309053187 Centerline is valid? [True, True] Translation: X:269.89, Y:-11.20, Z:-5.92 [[ 9.99228770e-01 3.22756817e-02 2.23639547e-02 2.69894007e+02] [-3.22579775e-02 9.99478912e-01 -1.15203412e-03 -1.12014162e+01] [-2.23894838e-02 4.29729693e-04 9.99749232e-01 -5.91962044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084391418 meters 0.01872761575613719 Centerline is valid? [True, True] Translation: X:269.95, Y:-11.21, Z:-5.92 [[ 9.99241090e-01 3.20519044e-02 2.21341050e-02 2.69954622e+02] [-3.20345069e-02 9.99486113e-01 -1.14022217e-03 -1.12068386e+01] [-2.21592768e-02 4.30301707e-04 9.99754360e-01 -5.92146786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144391418 meters 0.017905877854557887 Centerline is valid? [True, True] Translation: X:270.02, Y:-11.21, Z:-5.92 [[ 9.99167725e-01 3.42840391e-02 2.21011647e-02 2.70015512e+02] [-3.42671177e-02 9.99412055e-01 -1.14400967e-03 -1.12086006e+01] [-2.21273917e-02 3.85714330e-04 9.99755085e-01 -5.92277524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20439141799994 meters 0.015928248523697133 Centerline is valid? [True, True] Translation: X:270.08, Y:-11.21, Z:-5.92 [[ 9.98997507e-01 3.86457529e-02 2.25939572e-02 2.70075835e+02] [-3.86291644e-02 9.99252930e-01 -1.17035454e-03 -1.12069017e+01] [-2.26223072e-02 2.96395581e-04 9.99744039e-01 -5.92369880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26439141799995 meters 0.013715364327625164 Centerline is valid? [True, True] Translation: X:270.14, Y:-11.20, Z:-5.93 [[ 9.98592420e-01 4.79141492e-02 2.27467316e-02 2.70135581e+02] [-4.78997392e-02 9.98851454e-01 -1.17823907e-03 -1.12027223e+01] [-2.27770603e-02 8.70180904e-05 9.99740565e-01 -5.92505500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32439141799995 meters 0.013517005697930936 Centerline is valid? [True, True] Translation: X:270.19, Y:-11.20, Z:-5.93 [[ 9.98261725e-01 5.48267762e-02 2.16229953e-02 2.70194911e+02] [-5.48153933e-02 9.98495879e-01 -1.11922486e-03 -1.12020309e+01] [-2.16518352e-02 -6.79936517e-05 9.99765569e-01 -5.92751312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38439141799995 meters 0.013814738615474362 Centerline is valid? [True, True] Translation: X:270.25, Y:-11.21, Z:-5.93 [[ 9.98246180e-01 5.59870383e-02 1.92358018e-02 2.70253495e+02] [-5.59782716e-02 9.98431492e-01 -9.94314907e-04 -1.12063695e+01] [-1.92612990e-02 -8.42158810e-05 9.99814480e-01 -5.93152491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44439141799995 meters 0.013572165111397859 Centerline is valid? [True, True] Translation: X:270.31, Y:-11.21, Z:-5.93 [[ 9.98417552e-01 5.31287677e-02 1.84316459e-02 2.70311977e+02] [-5.31202574e-02 9.98587669e-01 -9.51352388e-04 -1.12130699e+01] [-1.84561585e-02 -2.92468509e-05 9.99829670e-01 -5.93401378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50439141799995 meters 0.013990933351399932 Centerline is valid? [True, True] Translation: X:270.37, Y:-11.22, Z:-5.94 [[ 9.98774514e-01 4.62255989e-02 1.76823153e-02 2.70369652e+02] [-4.62167066e-02 9.98931021e-01 -9.11418138e-04 -1.12247785e+01] [-1.77055441e-02 9.30828281e-05 9.99843240e-01 -5.93508901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56439141799996 meters 0.015920290048637077 Centerline is valid? [True, True] Translation: X:270.43, Y:-11.24, Z:-5.94 [[ 9.99155635e-01 3.69851972e-02 1.78916980e-02 2.70428197e+02] [-3.69746466e-02 9.99315780e-01 -9.20242932e-04 -1.12375480e+01] [-1.79134915e-02 2.57926702e-04 9.99839507e-01 -5.93564461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62439141799996 meters 0.01873228924165778 Centerline is valid? [True, True] Translation: X:270.49, Y:-11.25, Z:-5.94 [[ 9.99342356e-01 3.11641528e-02 1.85378247e-02 2.70487127e+02] [-3.11518466e-02 9.99514210e-01 -9.52313998e-04 -1.12480468e+01] [-1.85584972e-02 3.74200244e-04 9.99827706e-01 -5.93686804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68439141799996 meters 0.02130600668878055 Centerline is valid? [True, True] Translation: X:270.55, Y:-11.26, Z:-5.94 [[ 9.99568863e-01 2.25880315e-02 1.87581665e-02 2.70547934e+02] [-2.25739322e-02 9.99744712e-01 -9.63065186e-04 -1.12588677e+01] [-1.87751315e-02 5.39204393e-04 9.99823586e-01 -5.93766424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74439141799996 meters 0.024907933837734576 Centerline is valid? [True, True] Translation: X:270.61, Y:-11.27, Z:-5.94 [[ 9.99682111e-01 1.59177757e-02 1.95525294e-02 2.70608545e+02] [-1.59011663e-02 9.99873064e-01 -1.00466070e-03 -1.12693299e+01] [-1.95660394e-02 6.93433307e-04 9.99808326e-01 -5.93847356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80439141799997 meters 0.02822286010681569 Centerline is valid? [True, True] Translation: X:270.67, Y:-11.28, Z:-5.94 [[ 9.99751050e-01 8.85541499e-03 2.04797508e-02 2.70668917e+02] [-8.83569270e-03 9.99960410e-01 -1.05330111e-03 -1.12783964e+01] [-2.04882674e-02 8.72086108e-04 9.99789713e-01 -5.93861561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86439141799997 meters 0.03455435020360307 Centerline is valid? [True, True] Translation: X:270.73, Y:-11.29, Z:-5.94 [[ 9.99794393e-01 -1.16250341e-03 2.02439961e-02 2.70728894e+02] [ 1.18382849e-03 9.99998757e-01 -1.04145019e-03 -1.12912347e+01] [-2.02427603e-02 1.06520148e-03 9.99794527e-01 -5.93937508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92439141799997 meters 0.0376174653784289 Centerline is valid? [True, True] Translation: X:270.79, Y:-11.30, Z:-5.94 [[ 9.99789146e-01 -7.04532847e-03 1.92880192e-02 2.70789006e+02] [ 7.06577709e-03 9.99974545e-01 -9.92227873e-04 -1.12979634e+01] [-1.92805377e-02 1.12830350e-03 9.99813477e-01 -5.94119002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.984391418 meters 0.03744648894279755 Centerline is valid? [True, True] Translation: X:270.85, Y:-11.30, Z:-5.94 [[ 9.99796190e-01 -7.72909792e-03 1.86504704e-02 2.70850846e+02] [ 7.74832024e-03 9.99969522e-01 -9.58619125e-04 -1.12988236e+01] [-1.86424927e-02 1.10293357e-03 9.99825605e-01 -5.94309544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044391418 meters 0.03723814225946322 Centerline is valid? [True, True] Translation: X:270.91, Y:-11.30, Z:-5.95 [[ 9.99826718e-01 -6.54573351e-03 1.74266463e-02 2.70913126e+02] [ 6.56242446e-03 9.99978061e-01 -9.00770133e-04 -1.12995453e+01] [-1.74203678e-02 1.01497510e-03 9.99847739e-01 -5.94565572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104391418 meters 0.03364538334606507 Centerline is valid? [True, True] Translation: X:270.97, Y:-11.29, Z:-5.95 [[ 9.99866464e-01 -2.03891925e-03 1.62141201e-02 2.70974399e+02] [ 2.05280221e-03 9.99997541e-01 -8.39629533e-04 -1.12936136e+01] [-1.62123683e-02 8.72801793e-04 9.99868190e-01 -5.94778168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164391418 meters 0.032140957187098446 Centerline is valid? [True, True] Translation: X:271.03, Y:-11.29, Z:-5.95 [[ 9.99843896e-01 4.74931557e-03 1.70184456e-02 2.71034206e+02] [-4.73499190e-03 9.99988401e-01 -8.81850835e-04 -1.12881944e+01] [-1.70224364e-02 8.01130973e-04 9.99854787e-01 -5.94773524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224391418 meters 0.027443925672209924 Centerline is valid? [True, True] Translation: X:271.10, Y:-11.28, Z:-5.95 [[ 9.99775609e-01 1.05727979e-02 1.83561105e-02 2.71095673e+02] [-1.05571232e-02 9.99943820e-01 -9.50615635e-04 -1.12805221e+01] [-1.83651299e-02 7.56614605e-04 9.99831060e-01 -5.94759081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284391418 meters 0.02194675849143931 Centerline is valid? [True, True] Translation: X:271.16, Y:-11.27, Z:-5.95 [[ 9.99593417e-01 2.07335210e-02 1.95734836e-02 2.71156742e+02] [-2.07176339e-02 9.99784852e-01 -1.01411881e-03 -1.12673416e+01] [-1.95902987e-02 6.08190217e-04 9.99807907e-01 -5.94692520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344391418 meters 0.01962285761936289 Centerline is valid? [True, True] Translation: X:271.22, Y:-11.26, Z:-5.95 [[ 9.99422834e-01 2.78479196e-02 1.94548833e-02 2.71216707e+02] [-2.78335683e-02 9.99612063e-01 -1.00810887e-03 -1.12622495e+01] [-1.94754098e-02 4.66028199e-04 9.99810228e-01 -5.94864964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404391418 meters 0.016403808387941303 Centerline is valid? [True, True] Translation: X:271.28, Y:-11.25, Z:-5.95 [[ 9.99142914e-01 3.69702244e-02 1.86182752e-02 2.71277979e+02] [-3.69586649e-02 9.99316330e-01 -9.64689700e-04 -1.12531932e+01] [-1.86412112e-02 2.75756284e-04 9.99826199e-01 -5.95124223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464391418 meters 0.014794645542871824 Centerline is valid? [True, True] Translation: X:271.34, Y:-11.25, Z:-5.95 [[ 9.98903711e-01 4.32911444e-02 1.78116089e-02 2.71335765e+02] [-4.32815545e-02 9.99062487e-01 -9.23725703e-04 -1.12477527e+01] [-1.78348994e-02 1.51798913e-04 9.99840934e-01 -5.95369369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524391418 meters 0.01416831694656166 Centerline is valid? [True, True] Translation: X:271.39, Y:-11.24, Z:-5.96 [[ 9.98657623e-01 4.85438568e-02 1.80677973e-02 2.71394518e+02] [-4.85348823e-02 9.98821050e-01 -9.35131893e-04 -1.12429102e+01] [-1.80918912e-02 5.69581775e-05 9.99836327e-01 -5.95546332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584391418 meters 0.014082048364697326 Centerline is valid? [True, True] Translation: X:271.45, Y:-11.24, Z:-5.96 [[ 9.98512369e-01 5.09740626e-02 1.93569972e-02 2.71452973e+02] [-5.09642494e-02 9.98699977e-01 -1.00024270e-03 -1.12422743e+01] [-1.93828191e-02 1.22398732e-05 9.99812135e-01 -5.95604416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644391418 meters 0.013913843177825803 Centerline is valid? [True, True] Translation: X:271.51, Y:-11.25, Z:-5.96 [[ 9.98536194e-01 4.94838128e-02 2.18362429e-02 2.71512082e+02] [-4.94710101e-02 9.98774925e-01 -1.12644250e-03 -1.12464548e+01] [-2.18652326e-02 4.45326080e-05 9.99760926e-01 -5.95596032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70439141799994 meters 0.015115406554752775 Centerline is valid? [True, True] Translation: X:271.57, Y:-11.26, Z:-5.96 [[ 9.98948856e-01 4.02069863e-02 2.20132178e-02 2.71570410e+02] [-4.01917595e-02 9.99191341e-01 -1.13388012e-03 -1.12572495e+01] [-2.20410065e-02 2.47938293e-04 9.99757037e-01 -5.95775930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76439141799995 meters 0.018432559453581302 Centerline is valid? [True, True] Translation: X:271.63, Y:-11.27, Z:-5.96 [[ 9.99284254e-01 3.06000442e-02 2.22399700e-02 2.71629275e+02] [-3.05821636e-02 9.99531602e-01 -1.14373893e-03 -1.12701827e+01] [-2.22645513e-02 4.62773904e-04 9.99752007e-01 -5.95953175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82439141799995 meters 0.02524110552499381 Centerline is valid? [True, True] Translation: X:271.69, Y:-11.29, Z:-5.96 [[ 9.99638076e-01 1.55892623e-02 2.19246667e-02 2.71689102e+02] [-1.55682867e-02 9.99878172e-01 -1.12708351e-03 -1.12889328e+01] [-2.19395660e-02 7.85346099e-04 9.99758990e-01 -5.96221058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88439141799995 meters 0.029828166551023334 Centerline is valid? [True, True] Translation: X:271.75, Y:-11.30, Z:-5.96 [[ 9.99745818e-01 5.11780224e-03 2.19569443e-02 2.71749607e+02] [-5.09422186e-03 9.99986386e-01 -1.12973661e-03 -1.13019323e+01] [-2.19624272e-02 1.01759590e-03 9.99758279e-01 -5.96471999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94439141799995 meters 0.030829957767671046 Centerline is valid? [True, True] Translation: X:271.81, Y:-11.31, Z:-5.97 [[ 9.99767401e-01 1.81410553e-03 2.14907850e-02 2.71810064e+02] [-1.79073986e-03 9.99997785e-01 -1.10643591e-03 -1.13065418e+01] [-2.14927446e-02 1.06769415e-03 9.99768434e-01 -5.96659782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00439141799995 meters 0.03301699035012998 Centerline is valid? [True, True] Translation: X:271.87, Y:-11.31, Z:-5.97 [[ 9.99770326e-01 1.11445089e-03 2.14021803e-02 2.71870696e+02] [-1.09111144e-03 9.99998797e-01 -1.10216386e-03 -1.13121290e+01] [-2.14033829e-02 1.07855856e-03 9.99770340e-01 -5.96843055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06439141799996 meters 0.032862286876156506 Centerline is valid? [True, True] Translation: X:271.93, Y:-11.31, Z:-5.97 [[ 9.99756560e-01 1.33805471e-03 2.20234230e-02 2.71934251e+02] [-1.31326244e-03 9.99998488e-01 -1.14014764e-03 -1.13141351e+01] [-2.20249153e-02 1.11094755e-03 9.99756805e-01 -5.96995382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12439141799996 meters 0.034809647351899134 Centerline is valid? [True, True] Translation: X:272.00, Y:-11.32, Z:-5.97 [[ 9.99756962e-01 -2.46598237e-04 2.20444025e-02 2.71995748e+02] [ 2.71979417e-04 9.99999304e-01 -1.14837548e-03 -1.13181513e+01] [-2.20441040e-02 1.15409200e-03 9.99756333e-01 -5.97133282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18439141799996 meters 0.035045930936106355 Centerline is valid? [True, True] Translation: X:272.06, Y:-11.32, Z:-5.97 [[ 9.99774554e-01 -1.88976987e-03 2.11487499e-02 2.72057360e+02] [ 1.91360754e-03 9.99997556e-01 -1.10696268e-03 -1.13203536e+01] [-2.11466063e-02 1.14718353e-03 9.99775727e-01 -5.97362301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24439141799996 meters 0.03887764239023058 Centerline is valid? [True, True] Translation: X:272.12, Y:-11.33, Z:-5.98 [[ 9.99824788e-01 -4.42481463e-03 1.81882818e-02 2.72117121e+02] [ 4.44294623e-03 9.99989673e-01 -9.56596654e-04 -1.13270858e+01] [-1.81838612e-02 1.03723861e-03 9.99834122e-01 -5.97851986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30439141799997 meters 0.03653827972712433 Centerline is valid? [True, True] Translation: X:272.18, Y:-11.33, Z:-5.98 [[ 9.99849044e-01 -5.66201660e-03 1.64265146e-02 2.72179588e+02] [ 5.67699600e-03 9.99983511e-01 -8.65417071e-04 -1.13264867e+01] [-1.64213437e-02 9.58539689e-04 9.99864701e-01 -5.98118934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36439141799997 meters 0.036302314207842655 Centerline is valid? [True, True] Translation: X:272.24, Y:-11.33, Z:-5.98 [[ 9.99869013e-01 -6.12947345e-03 1.49795160e-02 2.72241893e+02] [ 6.14199788e-03 9.99980826e-01 -7.90241705e-04 -1.13256382e+01] [-1.49743850e-02 8.82142349e-04 9.99887488e-01 -5.98232181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42439141799997 meters 0.038772729189357466 Centerline is valid? [True, True] Translation: X:272.30, Y:-11.33, Z:-5.98 [[ 9.99881696e-01 -2.32581146e-03 1.52047661e-02 2.72301520e+02] [ 2.33830502e-03 9.99996943e-01 -8.03960934e-04 -1.13268467e+01] [-1.52028497e-02 8.39419203e-04 9.99884078e-01 -5.98248385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.484391418 meters 0.03217075026521076 Centerline is valid? [True, True] Translation: X:272.36, Y:-11.31, Z:-5.98 [[ 9.99836546e-01 3.60445486e-03 1.77169303e-02 2.72362930e+02] [-3.58841965e-03 9.99993123e-01 -9.36785710e-04 -1.13142939e+01] [-1.77201851e-02 8.73056808e-04 9.99842604e-01 -5.97950597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544391418 meters 0.03112124849235608 Centerline is valid? [True, True] Translation: X:272.42, Y:-11.31, Z:-5.98 [[ 9.99794722e-01 6.29439792e-03 1.92586044e-02 2.72424329e+02] [-6.27594927e-03 9.99979788e-01 -1.01823256e-03 -1.13117940e+01] [-1.92646243e-02 8.97157519e-04 9.99814017e-01 -5.97871963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604391418 meters 0.03188637606889488 Centerline is valid? [True, True] Translation: X:272.49, Y:-11.31, Z:-5.98 [[ 9.99761162e-01 7.37603468e-03 2.05721279e-02 2.72485467e+02] [-7.35519977e-03 9.99972358e-01 -1.08825506e-03 -1.13126247e+01] [-2.05795862e-02 9.36683030e-04 9.99787779e-01 -5.97895258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664391418 meters 0.029631621116705517 Centerline is valid? [True, True] Translation: X:272.55, Y:-11.31, Z:-5.98 [[ 9.99758691e-01 6.77953805e-03 2.08949029e-02 2.72547421e+02] [-6.75780167e-03 9.99976549e-01 -1.11070677e-03 -1.13106415e+01] [-2.09019430e-02 9.69235134e-04 9.99781061e-01 -5.98009985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724391418 meters 0.032454677097502556 Centerline is valid? [True, True] Translation: X:272.61, Y:-11.31, Z:-5.98 [[ 9.99815093e-01 3.44546992e-03 1.89184824e-02 2.72607049e+02] [-3.42695610e-03 9.99993617e-01 -1.01094217e-03 -1.13137450e+01] [-1.89218449e-02 9.45922435e-04 9.99820518e-01 -5.98320945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784391418 meters 0.03479291859564333 Centerline is valid? [True, True] Translation: X:272.67, Y:-11.32, Z:-5.99 [[ 9.99879264e-01 3.40875862e-04 1.55351836e-02 2.72668462e+02] [-3.28022801e-04 9.99999602e-01 -8.29892286e-04 -1.13165336e+01] [-1.55354603e-02 8.24696193e-04 9.99878977e-01 -5.98825469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844391418 meters 0.035656029050270065 Centerline is valid? [True, True] Translation: X:272.73, Y:-11.32, Z:-5.99 [[ 9.99900322e-01 4.46095567e-04 1.41119674e-02 2.72730288e+02] [-4.35519781e-04 9.99999622e-01 -7.52483946e-04 -1.13192356e+01] [-1.41122977e-02 7.46262899e-04 9.99900138e-01 -5.99197488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904391418 meters 0.03442492062923976 Centerline is valid? [True, True] Translation: X:272.79, Y:-11.32, Z:-5.99 [[ 9.99886337e-01 5.42772506e-03 1.40660086e-02 2.72790025e+02] [-5.41762476e-03 9.99985039e-01 -7.56068965e-04 -1.13162056e+01] [-1.40699019e-02 6.79778671e-04 9.99900783e-01 -5.99322809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964391418 meters 0.02682453191164631 Centerline is valid? [True, True] Translation: X:272.85, Y:-11.30, Z:-5.99 [[ 9.99737876e-01 1.58160044e-02 1.65539647e-02 2.72851095e+02] [-1.58034356e-02 9.99874722e-01 -8.89808443e-04 -1.13030958e+01] [-1.65659641e-02 6.27965687e-04 9.99862578e-01 -5.99077118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024391418 meters 0.022393000698053063 Centerline is valid? [True, True] Translation: X:272.91, Y:-11.30, Z:-5.99 [[ 9.99538016e-01 2.48006285e-02 1.75693657e-02 2.72912688e+02] [-2.47878590e-02 9.99692288e-01 -9.44240724e-04 -1.12956484e+01] [-1.75873771e-02 5.08297541e-04 9.99845201e-01 -5.99049956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084391418 meters 0.017006915136498234 Centerline is valid? [True, True] Translation: X:272.97, Y:-11.28, Z:-5.99 [[ 9.99160996e-01 3.67117781e-02 1.81534899e-02 2.72973446e+02] [-3.67000990e-02 9.99325848e-01 -9.76187837e-04 -1.12836939e+01] [-1.81770892e-02 3.09133936e-04 9.99834735e-01 -5.99033125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144391418 meters 0.015136819153080811 Centerline is valid? [True, True] Translation: X:273.03, Y:-11.28, Z:-5.99 [[ 9.98827090e-01 4.56224831e-02 1.62183228e-02 2.73032098e+02] [-4.56143298e-02 9.98958744e-01 -8.72479996e-04 -1.12781430e+01] [-1.62412401e-02 1.31668731e-04 9.99868094e-01 -5.99351884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20439141799994 meters 0.014865531101474568 Centerline is valid? [True, True] Translation: X:273.09, Y:-11.28, Z:-6.00 [[ 9.98634367e-01 5.03490232e-02 1.39419215e-02 2.73091059e+02] [-5.03434710e-02 9.98731683e-01 -7.49130305e-04 -1.12763948e+01] [-1.39619567e-02 4.62225484e-05 9.99902526e-01 -5.99674830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26439141799995 meters 0.015423024060915487 Centerline is valid? [True, True] Translation: X:273.15, Y:-11.27, Z:-6.00 [[ 9.98324506e-01 5.68175525e-02 1.09520436e-02 2.73150326e+02] [-5.68145210e-02 9.98384577e-01 -5.87971665e-04 -1.12736750e+01] [-1.09677585e-02 -3.52485898e-05 9.99939852e-01 -6.00082258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32439141799995 meters 0.016684951661583496 Centerline is valid? [True, True] Translation: X:273.21, Y:-11.27, Z:-6.00 [[ 9.97830093e-01 6.49439055e-02 1.08349062e-02 2.73209240e+02] [-6.49414261e-02 9.97888909e-01 -5.80883648e-04 -1.12703592e+01] [-1.08497575e-02 -1.24011073e-04 9.99941132e-01 -6.00006476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38439141799995 meters 0.018750306145297938 Centerline is valid? [True, True] Translation: X:273.27, Y:-11.27, Z:-6.00 [[ 9.97292183e-01 7.22405894e-02 1.37695114e-02 2.73267977e+02] [-7.22372792e-02 9.97387202e-01 -7.38256743e-04 -1.12677809e+01] [-1.37868666e-02 -2.58414365e-04 9.99904923e-01 -5.99797592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44439141799995 meters 0.01929312165395744 Centerline is valid? [True, True] Translation: X:273.33, Y:-11.27, Z:-6.00 [[ 9.97138368e-01 7.39917803e-02 1.55013397e-02 2.73326726e+02] [-7.39878753e-02 9.97258799e-01 -8.26040368e-04 -1.12708839e+01] [-1.55199677e-02 -3.23234648e-04 9.99879506e-01 -5.99837862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50439141799995 meters 0.01773793140426511 Centerline is valid? [True, True] Translation: X:273.39, Y:-11.28, Z:-6.00 [[ 9.97466488e-01 6.94076214e-02 1.55944893e-02 2.73385029e+02] [-6.94031965e-02 9.97588349e-01 -8.25406626e-04 -1.12815680e+01] [-1.56141704e-02 -2.58991959e-04 9.99878058e-01 -6.00030227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56439141799996 meters 0.01517078063520436 Centerline is valid? [True, True] Translation: X:273.44, Y:-11.30, Z:-6.00 [[ 9.98358425e-01 5.55043097e-02 1.41324719e-02 2.73442649e+02] [-5.54992950e-02 9.98458447e-01 -7.47076860e-04 -1.13010281e+01] [-1.41521519e-02 -3.84917500e-05 9.99899853e-01 -6.00376497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62439141799996 meters 0.015554892643764582 Centerline is valid? [True, True] Translation: X:273.50, Y:-11.32, Z:-6.01 [[ 9.98974047e-01 4.34319908e-02 1.28263969e-02 2.73500140e+02] [-4.34268732e-02 9.99056379e-01 -6.77372351e-04 -1.13184701e+01] [-1.28437133e-02 1.19667086e-04 9.99917509e-01 -6.00656323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68439141799996 meters 0.020549254371915557 Centerline is valid? [True, True] Translation: X:273.56, Y:-11.34, Z:-6.01 [[ 9.99598996e-01 2.58974199e-02 1.14529508e-02 2.73559739e+02] [-2.58922105e-02 9.99664559e-01 -6.02917293e-04 -1.13425807e+01] [-1.14647231e-02 3.06133306e-04 9.99934231e-01 -6.00966320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74439141799996 meters 0.02687146571810075 Centerline is valid? [True, True] Translation: X:273.62, Y:-11.36, Z:-6.01 [[ 9.99836504e-01 1.35956080e-02 1.19216145e-02 2.73618221e+02] [-1.35890890e-02 9.99907467e-01 -6.27659863e-04 -1.13630332e+01] [-1.19290448e-02 4.65553362e-04 9.99928738e-01 -6.01125794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80439141799997 meters 0.02923238501807023 Centerline is valid? [True, True] Translation: X:273.68, Y:-11.37, Z:-6.01 [[ 9.99866692e-01 8.12782625e-03 1.41610723e-02 2.73679015e+02] [-8.11808967e-03 9.99966770e-01 -7.44908620e-04 -1.13733217e+01] [-1.41666563e-02 6.29848463e-04 9.99899450e-01 -6.01026865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86439141799997 meters 0.032580158582806544 Centerline is valid? [True, True] Translation: X:273.74, Y:-11.38, Z:-6.01 [[ 9.99842296e-01 2.18697026e-03 1.76238734e-02 2.73739246e+02] [-2.17095925e-03 9.99997213e-01 -9.27564402e-04 -1.13849733e+01] [-1.76258528e-02 8.89157411e-04 9.99844257e-01 -6.00790845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92439141799997 meters 0.03637058763890839 Centerline is valid? [True, True] Translation: X:273.80, Y:-11.40, Z:-6.01 [[ 9.99819979e-01 -1.87379396e-03 1.88811598e-02 2.73798897e+02] [ 1.89289829e-03 9.99997714e-01 -9.93998938e-04 -1.13972890e+01] [-1.88792540e-02 1.02956011e-03 9.99821241e-01 -6.00902475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.984391418 meters 0.037123753473869946 Centerline is valid? [True, True] Translation: X:273.86, Y:-11.40, Z:-6.01 [[ 9.99826763e-01 -5.16610825e-03 1.78816777e-02 2.73859505e+02] [ 5.18376656e-03 9.99986121e-01 -9.41298367e-04 -1.14042607e+01] [-1.78765667e-02 1.03382974e-03 9.99839667e-01 -6.01151673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044391418 meters 0.040284705575440984 Centerline is valid? [True, True] Translation: X:273.92, Y:-11.41, Z:-6.02 [[ 9.99867553e-01 -8.24336585e-03 1.40329724e-02 2.73918687e+02] [ 8.25453830e-03 9.99965658e-01 -7.38421370e-04 -1.14146678e+01] [-1.40264034e-02 8.54159276e-04 9.99901260e-01 -6.01771435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104391418 meters 0.04078635906568336 Centerline is valid? [True, True] Translation: X:273.98, Y:-11.42, Z:-6.02 [[ 9.99891847e-01 -9.03239200e-03 1.16064412e-02 2.73980538e+02] [ 9.04009443e-03 9.99958951e-01 -6.11341363e-04 -1.14197456e+01] [-1.16004429e-02 7.16198570e-04 9.99932456e-01 -6.02189162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164391418 meters 0.0352281828840466 Centerline is valid? [True, True] Translation: X:274.04, Y:-11.41, Z:-6.02 [[ 9.99927858e-01 -6.16004825e-03 1.03118037e-02 2.74042445e+02] [ 6.16598679e-03 9.99980842e-01 -5.44204388e-04 -1.14137534e+01] [-1.03082538e-02 6.07747573e-04 9.99946684e-01 -6.02332863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224391418 meters 0.03429177573051026 Centerline is valid? [True, True] Translation: X:274.10, Y:-11.41, Z:-6.02 [[ 9.99915788e-01 3.87268334e-03 1.23862746e-02 2.74102513e+02] [-3.86486814e-03 9.99992317e-01 -6.54830643e-04 -1.14119373e+01] [-1.23887153e-02 6.06904180e-04 9.99923073e-01 -6.02353859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284391418 meters 0.025724353902964184 Centerline is valid? [True, True] Translation: X:274.16, Y:-11.40, Z:-6.02 [[ 9.99782083e-01 1.40418075e-02 1.54471370e-02 2.74163725e+02] [-1.40308649e-02 9.99901229e-01 -8.16541354e-04 -1.13996018e+01] [-1.54570770e-02 5.99626724e-04 9.99880352e-01 -6.02088364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344391418 meters 0.018426996750187254 Centerline is valid? [True, True] Translation: X:274.22, Y:-11.39, Z:-6.02 [[ 9.99340103e-01 3.10180579e-02 1.89007733e-02 2.74224906e+02] [-3.10047070e-02 9.99518739e-01 -9.99058837e-04 -1.13852944e+01] [-1.89226660e-02 4.12386621e-04 9.99820865e-01 -6.01851626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404391418 meters 0.015583461078941162 Centerline is valid? [True, True] Translation: X:274.28, Y:-11.38, Z:-6.02 [[ 9.98968763e-01 4.07671614e-02 1.99862477e-02 2.74284664e+02] [-4.07541819e-02 9.99168645e-01 -1.05646454e-03 -1.13790676e+01] [-2.00127011e-02 2.40851899e-04 9.99799697e-01 -6.01929692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464391418 meters 0.01393069766522493 Centerline is valid? [True, True] Translation: X:274.34, Y:-11.37, Z:-6.02 [[ 9.98570867e-01 5.01840053e-02 1.83790611e-02 2.74344161e+02] [-5.01746328e-02 9.98739988e-01 -9.71007040e-04 -1.13723350e+01] [-1.84046323e-02 4.74566993e-05 9.99830619e-01 -6.02238014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524391418 meters 0.013835881391727062 Centerline is valid? [True, True] Translation: X:274.40, Y:-11.37, Z:-6.03 [[ 9.98472988e-01 5.26094483e-02 1.68504905e-02 2.74402569e+02] [-5.26019358e-02 9.98615164e-01 -8.89044784e-04 -1.13734135e+01] [-1.68739275e-02 1.31877952e-06 9.99857625e-01 -6.02563385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584391418 meters 0.014002004270012683 Centerline is valid? [True, True] Translation: X:274.46, Y:-11.38, Z:-6.03 [[ 9.98484961e-01 5.26788651e-02 1.58971740e-02 2.74460430e+02] [-5.26722047e-02 9.98611505e-01 -8.37665785e-04 -1.13764803e+01] [-1.59192281e-02 -9.42513128e-07 9.99873281e-01 -6.02852179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64439141799994 meters 0.013977118594100557 Centerline is valid? [True, True] Translation: X:274.52, Y:-11.38, Z:-6.03 [[ 9.98608828e-01 5.00860164e-02 1.64863284e-02 2.74517226e+02] [-5.00785220e-02 9.98744907e-01 -8.67361615e-04 -1.13830310e+01] [-1.65090793e-02 4.05440038e-05 9.99863715e-01 -6.03046545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70439141799994 meters 0.014269726566586927 Centerline is valid? [True, True] Translation: X:274.58, Y:-11.39, Z:-6.03 [[ 9.98836904e-01 4.46931445e-02 1.80931354e-02 2.74575718e+02] [-4.46833014e-02 9.99000753e-01 -9.48125338e-04 -1.13928201e+01] [-1.81174305e-02 1.38561557e-04 9.99835856e-01 -6.03040762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76439141799995 meters 0.015442452800653848 Centerline is valid? [True, True] Translation: X:274.63, Y:-11.40, Z:-6.03 [[ 9.99015490e-01 4.01471926e-02 1.88747043e-02 2.74633490e+02] [-4.01356985e-02 9.99193750e-01 -9.87534746e-04 -1.14013696e+01] [-1.88991333e-02 2.29013066e-04 9.99821369e-01 -6.03098923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82439141799995 meters 0.017519668487173255 Centerline is valid? [True, True] Translation: X:274.69, Y:-11.41, Z:-6.03 [[ 9.99260460e-01 3.20386286e-02 2.12616857e-02 2.74692421e+02] [-3.20222595e-02 9.99486540e-01 -1.10998838e-03 -1.14142656e+01] [-2.12863311e-02 4.28320284e-04 9.99773329e-01 -6.03147853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88439141799995 meters 0.020852384413803368 Centerline is valid? [True, True] Translation: X:274.75, Y:-11.43, Z:-6.03 [[ 9.99478687e-01 2.39018435e-02 2.17038443e-02 2.74752451e+02] [-2.38828890e-02 9.99714122e-01 -1.13214772e-03 -1.14294769e+01] [-2.17247001e-02 6.13207011e-04 9.99763803e-01 -6.03338182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94439141799995 meters 0.025095527575755203 Centerline is valid? [True, True] Translation: X:274.81, Y:-11.44, Z:-6.04 [[ 9.99605714e-01 1.78524157e-02 2.16727500e-02 2.74812275e+02] [-1.78320855e-02 9.99840356e-01 -1.13096438e-03 -1.14445832e+01] [-2.16894805e-02 7.44048128e-04 9.99764479e-01 -6.03573271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00439141799995 meters 0.027023246831789013 Centerline is valid? [True, True] Translation: X:274.87, Y:-11.46, Z:-6.04 [[ 9.99647587e-01 1.49142008e-02 2.19605981e-02 2.74873661e+02] [-1.48926092e-02 9.99888442e-01 -1.14642554e-03 -1.14558391e+01] [-2.19752462e-02 8.18970923e-04 9.99758180e-01 -6.03856778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06439141799996 meters 0.026759872309544405 Centerline is valid? [True, True] Translation: X:274.94, Y:-11.46, Z:-6.04 [[ 9.99637627e-01 1.57986751e-02 2.17948606e-02 2.74935684e+02] [-1.57775823e-02 9.99874877e-01 -1.13941615e-03 -1.14613837e+01] [-2.18101349e-02 7.95133051e-04 9.99761815e-01 -6.04073894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12439141799996 meters 0.02466383758294643 Centerline is valid? [True, True] Translation: X:275.00, Y:-11.46, Z:-6.04 [[ 9.99564731e-01 2.03859887e-02 2.13250855e-02 2.74997642e+02] [-2.03667142e-02 9.99791949e-01 -1.12065762e-03 -1.14625813e+01] [-2.13434945e-02 6.85847908e-04 9.99771966e-01 -6.04279104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18439141799996 meters 0.02132958183888411 Centerline is valid? [True, True] Translation: X:275.06, Y:-11.46, Z:-6.05 [[ 9.99372021e-01 2.81126387e-02 2.15695005e-02 2.75057812e+02] [-2.80946896e-02 9.99604622e-01 -1.13478980e-03 -1.14614550e+01] [-2.15928743e-02 5.28088753e-04 9.99766707e-01 -6.04513776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24439141799996 meters 0.01833746327859435 Centerline is valid? [True, True] Translation: X:275.12, Y:-11.46, Z:-6.05 [[ 9.99174092e-01 3.51075912e-02 2.04594793e-02 2.75118622e+02] [-3.50929088e-02 9.99383475e-01 -1.07633295e-03 -1.14603672e+01] [-2.04846530e-02 3.57461352e-04 9.99790104e-01 -6.04811345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30439141799997 meters 0.015774808599720615 Centerline is valid? [True, True] Translation: X:275.18, Y:-11.46, Z:-6.05 [[ 9.99074385e-01 3.78836709e-02 2.03764752e-02 2.75178557e+02] [-3.78696666e-02 9.99282111e-01 -1.07284518e-03 -1.14581047e+01] [-2.04024905e-02 3.00201819e-04 9.99791802e-01 -6.04911549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36439141799997 meters 0.015854043270529368 Centerline is valid? [True, True] Translation: X:275.24, Y:-11.46, Z:-6.05 [[ 9.99056141e-01 3.88130105e-02 1.95032453e-02 2.75237071e+02] [-3.88003728e-02 9.99246455e-01 -1.02610375e-03 -1.14619908e+01] [-1.95283749e-02 2.68402064e-04 9.99809267e-01 -6.05073604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42439141799997 meters 0.016170988682385295 Centerline is valid? [True, True] Translation: X:275.30, Y:-11.47, Z:-6.05 [[ 9.99126140e-01 3.74791396e-02 1.85005771e-02 2.75296720e+02] [-3.74675530e-02 9.99297371e-01 -9.72625224e-04 -1.14677294e+01] [-1.85240312e-02 2.78603932e-04 9.99828377e-01 -6.05276226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.484391418 meters 0.02050886896808354 Centerline is valid? [True, True] Translation: X:275.36, Y:-11.48, Z:-6.06 [[ 9.99298991e-01 3.30220960e-02 1.76371413e-02 2.75355120e+02] [-3.30108910e-02 9.99454563e-01 -9.26140785e-04 -1.14812664e+01] [-1.76581045e-02 3.43273802e-04 9.99844025e-01 -6.05595111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544391418 meters 0.020181838611962304 Centerline is valid? [True, True] Translation: X:275.42, Y:-11.49, Z:-6.06 [[ 9.99482271e-01 2.70157813e-02 1.74739091e-02 2.75415631e+02] [-2.70038445e-02 9.99634907e-01 -9.18755650e-04 -1.14862502e+01] [-1.74923504e-02 4.46417260e-04 9.99846897e-01 -6.05539119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604391418 meters 0.024771707799834557 Centerline is valid? [True, True] Translation: X:275.48, Y:-11.50, Z:-6.06 [[ 9.99698281e-01 1.77233716e-02 1.70067488e-02 2.75476127e+02] [-1.77107214e-02 9.99842753e-01 -8.94171215e-04 -1.14980233e+01] [-1.70199223e-02 5.92699636e-04 9.99854975e-01 -6.05636051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664391418 meters 0.029695615604069685 Centerline is valid? [True, True] Translation: X:275.53, Y:-11.51, Z:-6.06 [[ 9.99794379e-01 1.03875389e-02 1.74154566e-02 2.75534920e+02] [-1.03731623e-02 9.99945778e-01 -9.15642068e-04 -1.15092365e+01] [-1.74240235e-02 7.34800435e-04 9.99847920e-01 -6.05697234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724391418 meters 0.03538945977481663 Centerline is valid? [True, True] Translation: X:275.60, Y:-11.52, Z:-6.06 [[ 9.99833601e-01 1.01731633e-03 1.82135955e-02 2.75595625e+02] [-1.00003203e-03 9.99999041e-01 -9.58060707e-04 -1.15202269e+01] [-1.82145527e-02 9.39687108e-04 9.99833660e-01 -6.05689743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784391418 meters 0.03889172924685595 Centerline is valid? [True, True] Translation: X:275.66, Y:-11.53, Z:-6.06 [[ 9.99809916e-01 -5.38006575e-03 1.87399950e-02 2.75655451e+02] [ 5.39949764e-03 9.99984936e-01 -9.86477087e-04 -1.15294263e+01] [-1.87344054e-02 1.08747613e-03 9.99823904e-01 -6.05773157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844391418 meters 0.03896088787951342 Centerline is valid? [True, True] Translation: X:275.72, Y:-11.53, Z:-6.06 [[ 9.99801778e-01 -1.03550285e-02 1.70052475e-02 2.75715901e+02] [ 1.03717461e-02 9.99945811e-01 -8.95184796e-04 -1.15333437e+01] [-1.69950563e-02 1.07138146e-03 9.99855000e-01 -6.06054574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904391418 meters 0.0429466192217039 Centerline is valid? [True, True] Translation: X:275.78, Y:-11.54, Z:-6.06 [[ 9.99800060e-01 -1.26810801e-02 1.54605899e-02 2.75775536e+02] [ 1.26951677e-02 9.99919082e-01 -8.13387398e-04 -1.15419085e+01] [-1.54490243e-02 1.00949955e-03 9.99880147e-01 -6.06409661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964391418 meters 0.0459408500039128 Centerline is valid? [True, True] Translation: X:275.84, Y:-11.55, Z:-6.07 [[ 9.99796878e-01 -1.44648869e-02 1.40345706e-02 2.75835735e+02] [ 1.44766952e-02 9.99894933e-01 -7.40140601e-04 -1.15484869e+01] [-1.40223899e-02 9.43164462e-04 9.99901237e-01 -6.06751357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024391418 meters 0.04373049169389871 Centerline is valid? [True, True] Translation: X:275.90, Y:-11.55, Z:-6.07 [[ 9.99811879e-01 -1.26758687e-02 1.46809251e-02 2.75897488e+02] [ 1.26886001e-02 9.99919197e-01 -7.74384453e-04 -1.15457359e+01] [-1.46699229e-02 9.60519163e-04 9.99891930e-01 -6.06777887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084391418 meters 0.039758808288969126 Centerline is valid? [True, True] Translation: X:275.96, Y:-11.54, Z:-6.07 [[ 9.99832865e-01 -9.70361166e-03 1.54945500e-02 2.75958125e+02] [ 9.71745234e-03 9.99952450e-01 -8.18220807e-04 -1.15406527e+01] [-1.54858736e-02 9.68651606e-04 9.99879617e-01 -6.06800229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14439141799994 meters 0.03810300409620744 Centerline is valid? [True, True] Translation: X:276.02, Y:-11.54, Z:-6.07 [[ 9.99876984e-01 -2.91388178e-03 1.54118668e-02 2.76018385e+02] [ 2.92677059e-03 9.99995386e-01 -8.13802998e-04 -1.15365883e+01] [-1.54094244e-02 8.58809886e-04 9.99880899e-01 -6.06965201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20439141799994 meters 0.03413404723685042 Centerline is valid? [True, True] Translation: X:276.08, Y:-11.53, Z:-6.07 [[ 9.99889368e-01 2.86321148e-03 1.45963915e-02 2.76079591e+02] [-2.85226278e-03 9.99995635e-01 -7.70858430e-04 -1.15300343e+01] [-1.45985349e-02 7.29140404e-04 9.99893170e-01 -6.07152790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26439141799995 meters 0.03258320194830539 Centerline is valid? [True, True] Translation: X:276.14, Y:-11.53, Z:-6.07 [[ 9.99896546e-01 5.11096989e-03 1.34452856e-02 2.76141449e+02] [-5.10188798e-03 9.99986733e-01 -7.09685283e-04 -1.15289967e+01] [-1.34487344e-02 6.41015522e-04 9.99909356e-01 -6.07351952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32439141799995 meters 0.03289318701112208 Centerline is valid? [True, True] Translation: X:276.20, Y:-11.53, Z:-6.08 [[ 9.99899462e-01 7.00857355e-03 1.23266230e-02 2.76203067e+02] [-7.00109933e-03 9.99975281e-01 -6.49395173e-04 -1.15298845e+01] [-1.23308697e-02 5.63029972e-04 9.99923813e-01 -6.07573305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38439141799995 meters 0.03199212795377086 Centerline is valid? [True, True] Translation: X:276.26, Y:-11.53, Z:-6.08 [[ 9.99881546e-01 9.39300440e-03 1.21928086e-02 2.76264894e+02] [-9.38581078e-03 9.99955743e-01 -6.47077859e-04 -1.15291093e+01] [-1.21983470e-02 5.32561816e-04 9.99925456e-01 -6.07579678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44439141799995 meters 0.031038114481784458 Centerline is valid? [True, True] Translation: X:276.33, Y:-11.53, Z:-6.08 [[ 9.99863071e-01 1.10721407e-02 1.22982742e-02 2.76327511e+02] [-1.10649391e-02 9.99938568e-01 -6.53471295e-04 -1.15303006e+01] [-1.23047540e-02 5.17302160e-04 9.99924160e-01 -6.07705678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50439141799995 meters 0.02685405911801119 Centerline is valid? [True, True] Translation: X:276.39, Y:-11.52, Z:-6.08 [[ 9.99779357e-01 1.66084952e-02 1.28605916e-02 2.76388438e+02] [-1.66010488e-02 9.99861958e-01 -6.85550543e-04 -1.15245566e+01] [-1.28702023e-02 4.71899972e-04 9.99917064e-01 -6.07660744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56439141799996 meters 0.023516715400395086 Centerline is valid? [True, True] Translation: X:276.45, Y:-11.52, Z:-6.08 [[ 9.99647940e-01 2.34020178e-02 1.25036445e-02 2.76449232e+02] [-2.33955099e-02 9.99726065e-01 -6.66523014e-04 -1.15199991e+01] [-1.25158173e-02 3.73759220e-04 9.99921604e-01 -6.07753584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62439141799996 meters 0.02020688941320795 Centerline is valid? [True, True] Translation: X:276.51, Y:-11.52, Z:-6.08 [[ 9.99530655e-01 2.80920917e-02 1.22189677e-02 2.76509838e+02] [-2.80862215e-02 9.99605292e-01 -6.51783282e-04 -1.15154129e+01] [-1.22324547e-02 3.08292737e-04 9.99925133e-01 -6.07776756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68439141799996 meters 0.019066466920231877 Centerline is valid? [True, True] Translation: X:276.57, Y:-11.51, Z:-6.08 [[ 9.99325827e-01 3.44721330e-02 1.26318681e-02 2.76568568e+02] [-3.44663746e-02 9.99405631e-01 -6.73342661e-04 -1.15136990e+01] [-1.26475717e-02 2.37514013e-04 9.99919988e-01 -6.07900578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74439141799996 meters 0.017056370616595155 Centerline is valid? [True, True] Translation: X:276.63, Y:-11.51, Z:-6.08 [[ 9.99203270e-01 3.80239308e-02 1.21246277e-02 2.76627500e+02] [-3.80188928e-02 9.99276812e-01 -6.45817182e-04 -1.15111838e+01] [-1.21404158e-02 1.84337721e-04 9.99926285e-01 -6.07945807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80439141799997 meters 0.016894708497205264 Centerline is valid? [True, True] Translation: X:276.69, Y:-11.51, Z:-6.08 [[ 9.99181181e-01 3.86590048e-02 1.19352223e-02 2.76686540e+02] [-3.86541789e-02 9.99252446e-01 -6.34850003e-04 -1.15142098e+01] [-1.19508428e-02 1.72983957e-04 9.99928571e-01 -6.08093086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86439141799997 meters 0.016365130635435533 Centerline is valid? [True, True] Translation: X:276.75, Y:-11.52, Z:-6.08 [[ 9.99224259e-01 3.76008558e-02 1.17070461e-02 2.76745703e+02] [-3.75961491e-02 9.99292821e-01 -6.21933477e-04 -1.15172973e+01] [-1.17221523e-02 1.81311169e-04 9.99931277e-01 -6.08144830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92439141799997 meters 0.018220277559202303 Centerline is valid? [True, True] Translation: X:276.80, Y:-11.53, Z:-6.08 [[ 9.99342443e-01 3.43441939e-02 1.16257585e-02 2.76803455e+02] [-3.43393384e-02 9.99410041e-01 -6.17070569e-04 -1.15253262e+01] [-1.16400925e-02 2.17443955e-04 9.99932228e-01 -6.08436740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984391418 meters 0.018287422881014155 Centerline is valid? [True, True] Translation: X:276.86, Y:-11.53, Z:-6.08 [[ 9.99473940e-01 3.01867455e-02 1.18576039e-02 2.76862200e+02] [-3.01814228e-02 9.99544240e-01 -6.27619359e-04 -1.15296693e+01] [-1.18711455e-02 2.69409836e-04 9.99929499e-01 -6.08460110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044391418 meters 0.022736805592876587 Centerline is valid? [True, True] Translation: X:276.92, Y:-11.54, Z:-6.09 [[ 9.99730388e-01 2.03660686e-02 1.11523747e-02 2.76921782e+02] [-2.03607666e-02 9.99792525e-01 -5.88752727e-04 -1.15425110e+01] [-1.11620515e-02 3.61523092e-04 9.99937637e-01 -6.08806035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104391418 meters 0.02876777813258838 Centerline is valid? [True, True] Translation: X:276.98, Y:-11.56, Z:-6.09 [[ 9.99905537e-01 8.36552824e-03 1.09056961e-02 2.76981217e+02] [-8.35974647e-03 9.99964891e-01 -5.75638682e-04 -1.15570170e+01] [-1.09101287e-02 4.84415451e-04 9.99940365e-01 -6.09112114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164391418 meters 0.03500182908083654 Centerline is valid? [True, True] Translation: X:277.04, Y:-11.57, Z:-6.09 [[ 9.99938111e-01 -8.46017727e-05 1.11250227e-02 2.77040649e+02] [ 9.11347302e-05 9.99999824e-01 -5.86725306e-04 -1.15692260e+01] [-1.11249711e-02 5.87702870e-04 9.99937943e-01 -6.09356607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224391418 meters 0.03632247618092092 Centerline is valid? [True, True] Translation: X:277.10, Y:-11.57, Z:-6.09 [[ 9.99926119e-01 -1.96162244e-03 1.19961567e-02 2.77102949e+02] [ 1.96934697e-03 9.99997861e-01 -6.32138123e-04 -1.15731600e+01] [-1.19948910e-02 6.55716015e-04 9.99927844e-01 -6.09365486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284391418 meters 0.032806564794846865 Centerline is valid? [True, True] Translation: X:277.16, Y:-11.57, Z:-6.09 [[ 9.99911381e-01 4.86268107e-04 1.33039329e-02 2.77164538e+02] [-4.76962652e-04 9.99999639e-01 -7.02615349e-04 -1.15685715e+01] [-1.33042697e-02 6.96207605e-04 9.99911252e-01 -6.09294042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344391418 meters 0.030531251304482622 Centerline is valid? [True, True] Translation: X:277.23, Y:-11.56, Z:-6.09 [[ 9.99871898e-01 5.82848225e-03 1.49069571e-02 2.77225273e+02] [-5.81737751e-03 9.99982768e-01 -7.88190875e-04 -1.15645672e+01] [-1.49112942e-02 7.01370508e-04 9.99888574e-01 -6.09297501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404391418 meters 0.02799070435148544 Centerline is valid? [True, True] Translation: X:277.29, Y:-11.56, Z:-6.09 [[ 9.99818470e-01 1.15644898e-02 1.51423360e-02 2.77286120e+02] [-1.15536858e-02 9.99932933e-01 -8.00783670e-04 -1.15596088e+01] [-1.51505811e-02 6.25688511e-04 9.99885028e-01 -6.09436293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464391418 meters 0.026662048486842782 Centerline is valid? [True, True] Translation: X:277.35, Y:-11.56, Z:-6.10 [[ 9.99778232e-01 1.53163580e-02 1.44532681e-02 2.77346306e+02] [-1.53069026e-02 9.99882550e-01 -7.64608938e-04 -1.15580472e+01] [-1.44632816e-02 5.43204605e-04 9.99895254e-01 -6.09672127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524391418 meters 0.024448929834543318 Centerline is valid? [True, True] Translation: X:277.41, Y:-11.55, Z:-6.10 [[ 9.99709264e-01 2.05153103e-02 1.26692442e-02 2.77407815e+02] [-2.05084619e-02 9.99789455e-01 -6.70250675e-04 -1.15521546e+01] [-1.26803272e-02 4.10229097e-04 9.99919517e-01 -6.10002202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584391418 meters 0.021511097918275966 Centerline is valid? [True, True] Translation: X:277.47, Y:-11.54, Z:-6.10 [[ 9.99572897e-01 2.70882969e-02 1.09657314e-02 2.77467287e+02] [-2.70835490e-02 9.99633004e-01 -5.81274032e-04 -1.15440368e+01] [-1.09774527e-02 2.84034846e-04 9.99939706e-01 -6.10278614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64439141799994 meters 0.018322158700843857 Centerline is valid? [True, True] Translation: X:277.53, Y:-11.53, Z:-6.10 [[ 9.99347770e-01 3.44867147e-02 1.07098887e-02 2.77527806e+02] [-3.44826134e-02 9.99405137e-01 -5.67420579e-04 -1.15345115e+01] [-1.07230862e-02 1.97745539e-04 9.99942487e-01 -6.10448419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70439141799994 meters 0.016342773627976235 Centerline is valid? [True, True] Translation: X:277.59, Y:-11.53, Z:-6.10 [[ 9.99154456e-01 3.93392949e-02 1.19496184e-02 2.77587511e+02] [-3.93345428e-02 9.99225897e-01 -6.32534169e-04 -1.15294280e+01] [-1.19652516e-02 1.61966559e-04 9.99928401e-01 -6.10481956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76439141799995 meters 0.013844631101516982 Centerline is valid? [True, True] Translation: X:277.65, Y:-11.52, Z:-6.10 [[ 9.98817642e-01 4.63468876e-02 1.46725847e-02 2.77647016e+02] [-4.63404917e-02 9.98925401e-01 -7.75778480e-04 -1.15191036e+01] [-1.46927724e-02 9.49264441e-05 9.99892051e-01 -6.10209974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82439141799995 meters 0.01381323005687174 Centerline is valid? [True, True] Translation: X:277.70, Y:-11.51, Z:-6.10 [[ 9.98557186e-01 5.12536122e-02 1.60191478e-02 2.77704818e+02] [-5.12466406e-02 9.98685670e-01 -8.45662891e-04 -1.15149247e+01] [-1.60414366e-02 2.35152494e-05 9.99871328e-01 -6.10248668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88439141799995 meters 0.013944982836644502 Centerline is valid? [True, True] Translation: X:277.76, Y:-11.52, Z:-6.10 [[ 9.98627414e-01 4.94238080e-02 1.73370973e-02 2.77762441e+02] [-4.94153963e-02 9.98777895e-01 -9.13506726e-04 -1.15184201e+01] [-1.73610586e-02 5.55333251e-05 9.99849284e-01 -6.10314748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94439141799995 meters 0.01426896533049508 Centerline is valid? [True, True] Translation: X:277.82, Y:-11.53, Z:-6.11 [[ 9.98829069e-01 4.52043504e-02 1.72353443e-02 2.77820429e+02] [-4.51954466e-02 9.98977753e-01 -9.05958594e-04 -1.15254016e+01] [-1.72586788e-02 1.25938698e-04 9.99851050e-01 -6.10587399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00439141799995 meters 0.016094932841513056 Centerline is valid? [True, True] Translation: X:277.88, Y:-11.54, Z:-6.11 [[ 9.99147734e-01 3.75654720e-02 1.71067558e-02 2.77878327e+02] [-3.75556117e-02 9.99294136e-01 -8.97395349e-04 -1.15365775e+01] [-1.71283918e-02 2.54175852e-04 9.99853266e-01 -6.10919238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06439141799996 meters 0.018098811226627754 Centerline is valid? [True, True] Translation: X:277.94, Y:-11.55, Z:-6.11 [[ 9.99346516e-01 3.19851866e-02 1.68371507e-02 2.77936867e+02] [-3.19748663e-02 9.99488284e-01 -8.81860536e-04 -1.15470540e+01] [-1.68567414e-02 3.42918609e-04 9.99857856e-01 -6.11115947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12439141799996 meters 0.01918076611937892 Centerline is valid? [True, True] Translation: X:278.00, Y:-11.55, Z:-6.11 [[ 9.99417300e-01 2.95067144e-02 1.71585129e-02 2.77996556e+02] [-2.94956551e-02 9.99564506e-01 -8.97303870e-04 -1.15546467e+01] [-1.71775170e-02 3.90679432e-04 9.99852379e-01 -6.11266150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18439141799996 meters 0.01968207297266443 Centerline is valid? [True, True] Translation: X:278.06, Y:-11.56, Z:-6.11 [[ 9.99424799e-01 2.89353709e-02 1.76865789e-02 2.78055733e+02] [-2.89235439e-02 9.99581200e-01 -9.24186125e-04 -1.15601262e+01] [-1.77059135e-02 4.12095990e-04 9.99843153e-01 -6.11386968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24439141799996 meters 0.01922067559514174 Centerline is valid? [True, True] Translation: X:278.11, Y:-11.57, Z:-6.12 [[ 9.99391837e-01 2.96891862e-02 1.82895614e-02 2.78114938e+02] [-2.96766787e-02 9.99559094e-01 -9.54950434e-04 -1.15659018e+01] [-1.83098491e-02 4.11596232e-04 9.99832276e-01 -6.11503670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30439141799997 meters 0.01877080559870109 Centerline is valid? [True, True] Translation: X:278.17, Y:-11.57, Z:-6.12 [[ 9.99308153e-01 3.21958499e-02 1.86183586e-02 2.78173441e+02] [-3.21833379e-02 9.99481510e-01 -9.71335354e-04 -1.15720584e+01] [-1.86399781e-02 3.71462412e-04 9.99826192e-01 -6.11653561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36439141799997 meters 0.01742186840685248 Centerline is valid? [True, True] Translation: X:278.23, Y:-11.57, Z:-6.12 [[ 9.99266898e-01 3.33141775e-02 1.88635136e-02 2.78233460e+02] [-3.33015426e-02 9.99444866e-01 -9.83618161e-04 -1.15731210e+01] [-1.88858102e-02 3.54712969e-04 9.99821584e-01 -6.11761852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42439141799997 meters 0.01584915981045787 Centerline is valid? [True, True] Translation: X:278.29, Y:-11.58, Z:-6.12 [[ 9.99122617e-01 3.79236687e-02 1.77705032e-02 2.78292335e+02] [-3.79131932e-02 9.99280607e-01 -9.26131173e-04 -1.15760189e+01] [-1.77928415e-02 2.51582080e-04 9.99841663e-01 -6.11944446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484391418 meters 0.01522468012281098 Centerline is valid? [True, True] Translation: X:278.35, Y:-11.58, Z:-6.12 [[ 9.99005002e-01 4.14478163e-02 1.64646361e-02 2.78349623e+02] [-4.14393205e-02 9.99140655e-01 -8.56981550e-04 -1.15799099e+01] [-1.64860073e-02 1.73845523e-04 9.99864081e-01 -6.12244825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544391418 meters 0.015171739487059804 Centerline is valid? [True, True] Translation: X:278.41, Y:-11.58, Z:-6.12 [[ 9.98962421e-01 4.27627529e-02 1.56661241e-02 2.78408555e+02] [-4.27552475e-02 9.99085245e-01 -8.13853104e-04 -1.15846720e+01] [-1.56865961e-02 1.43199653e-04 9.99876948e-01 -6.12493064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604391418 meters 0.014962284452461908 Centerline is valid? [True, True] Translation: X:278.47, Y:-11.59, Z:-6.13 [[ 9.98940660e-01 4.34650222e-02 1.51112423e-02 2.78466866e+02] [-4.34581365e-02 9.99054941e-01 -7.83898047e-04 -1.15917395e+01] [-1.51310334e-02 1.26361203e-04 9.99885511e-01 -6.12747493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664391418 meters 0.015432902603330335 Centerline is valid? [True, True] Translation: X:278.53, Y:-11.60, Z:-6.13 [[ 9.99000601e-01 4.20498182e-02 1.51529384e-02 2.78525381e+02] [-4.20427497e-02 9.99115504e-01 -7.84871447e-04 -1.15985268e+01] [-1.51725394e-02 1.47015851e-04 9.99884880e-01 -6.12876296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724391418 meters 0.01635069411229174 Centerline is valid? [True, True] Translation: X:278.58, Y:-11.61, Z:-6.13 [[ 9.99101996e-01 3.93290552e-02 1.57615360e-02 2.78584061e+02] [-3.93210894e-02 9.99226294e-01 -8.15098164e-04 -1.16057650e+01] [-1.57813982e-02 1.94605439e-04 9.99875447e-01 -6.12980856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784391418 meters 0.019189592181974233 Centerline is valid? [True, True] Translation: X:278.64, Y:-11.62, Z:-6.13 [[ 9.99375200e-01 3.15728304e-02 1.58860382e-02 2.78642942e+02] [-3.15637817e-02 9.99501403e-01 -8.20072957e-04 -1.16187301e+01] [-1.59040095e-02 3.18137132e-04 9.99873473e-01 -6.13137761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844391418 meters 0.023184481573576415 Centerline is valid? [True, True] Translation: X:278.70, Y:-11.63, Z:-6.13 [[ 9.99592865e-01 2.33807926e-02 1.63536668e-02 2.78702103e+02] [-2.33701197e-02 9.99726526e-01 -8.43455737e-04 -1.16316336e+01] [-1.63689151e-02 4.60925188e-04 9.99865914e-01 -6.13230154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904391418 meters 0.029769863522500665 Centerline is valid? [True, True] Translation: X:278.76, Y:-11.65, Z:-6.13 [[ 9.99816109e-01 9.69178030e-03 1.65474391e-02 2.78761978e+02] [-9.67898770e-03 9.99952794e-01 -8.52999991e-04 -1.16489263e+01] [-1.65549250e-02 6.92680672e-04 9.99862718e-01 -6.13327663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964391418 meters 0.03701208961961479 Centerline is valid? [True, True] Translation: X:278.82, Y:-11.67, Z:-6.13 [[ 9.99867991e-01 -1.42705423e-03 1.61853013e-02 2.78821854e+02] [ 1.44074742e-03 9.99998614e-01 -8.34397197e-04 -1.16657806e+01] [-1.61840882e-02 8.57605980e-04 9.99868661e-01 -6.13480839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024391418 meters 0.040842883876093375 Centerline is valid? [True, True] Translation: X:278.88, Y:-11.68, Z:-6.14 [[ 9.99856399e-01 -5.72566709e-03 1.59498349e-02 2.78882416e+02] [ 5.73951081e-03 9.99983191e-01 -8.22313372e-04 -1.16759559e+01] [-1.59448585e-02 9.13739537e-04 9.99872455e-01 -6.13595539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084391418 meters 0.04254892917705713 Centerline is valid? [True, True] Translation: X:278.94, Y:-11.68, Z:-6.14 [[ 9.99859361e-01 -6.63167289e-03 1.54038643e-02 2.78943883e+02] [ 6.64468433e-03 9.99977609e-01 -7.93659774e-04 -1.16834110e+01] [-1.53982561e-02 8.95901970e-04 9.99881038e-01 -6.13815327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14439141799994 meters 0.03935260985652856 Centerline is valid? [True, True] Translation: X:279.00, Y:-11.68, Z:-6.14 [[ 9.99919420e-01 -7.14345196e-04 1.26745109e-02 2.79004287e+02] [ 7.22710974e-04 9.99999524e-01 -6.55479499e-04 -1.16809448e+01] [-1.26740367e-02 6.64586688e-04 9.99919460e-01 -6.14200738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20439141799994 meters 0.03235564354088166 Centerline is valid? [True, True] Translation: X:279.07, Y:-11.67, Z:-6.14 [[ 9.99876869e-01 1.11641314e-02 1.10276449e-02 2.79065570e+02] [-1.11585198e-02 9.99937579e-01 -5.70268549e-04 -1.16707988e+01] [-1.10333231e-02 4.47146138e-04 9.99939031e-01 -6.14472284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26439141799995 meters 0.02334099404443161 Centerline is valid? [True, True] Translation: X:279.13, Y:-11.66, Z:-6.15 [[ 9.99571260e-01 2.75061951e-02 1.00351736e-02 2.79126468e+02] [-2.75023680e-02 9.99621604e-01 -5.19198836e-04 -1.16559530e+01] [-1.00456575e-02 2.42985197e-04 9.99949512e-01 -6.14622498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32439141799995 meters 0.017979369964070718 Centerline is valid? [True, True] Translation: X:279.19, Y:-11.64, Z:-6.15 [[ 9.99177394e-01 3.92790654e-02 1.00841468e-02 2.79186828e+02] [-3.92758002e-02 9.99228272e-01 -5.21704336e-04 -1.16447124e+01] [-1.00968567e-02 1.25212243e-04 9.99949018e-01 -6.14705847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38439141799995 meters 0.015646073623725235 Centerline is valid? [True, True] Translation: X:279.25, Y:-11.63, Z:-6.14 [[ 9.98438114e-01 5.48179103e-02 1.07856209e-02 2.79246179e+02] [-5.48150758e-02 9.98496367e-01 -5.58458503e-04 -1.16304526e+01] [-1.08000168e-02 -3.36283753e-05 9.99941678e-01 -6.14476779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44439141799995 meters 0.017646530022100676 Centerline is valid? [True, True] Translation: X:279.31, Y:-11.62, Z:-6.15 [[ 9.97783219e-01 6.56242542e-02 1.10501552e-02 2.79305699e+02] [-6.56219535e-02 9.97844393e-01 -5.71049905e-04 -1.16248361e+01] [-1.10638101e-02 -1.55348757e-04 9.99938782e-01 -6.14513277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50439141799995 meters 0.018869695123658835 Centerline is valid? [True, True] Translation: X:279.36, Y:-11.63, Z:-6.15 [[ 9.97565597e-01 6.89854417e-02 1.01925640e-02 2.79364113e+02] [-6.89836600e-02 9.97617651e-01 -5.26683913e-04 -1.16251545e+01] [-1.02046153e-02 -1.77718621e-04 9.99947916e-01 -6.14683048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56439141799996 meters 0.0181898757213977 Centerline is valid? [True, True] Translation: X:279.42, Y:-11.63, Z:-6.15 [[ 9.97771115e-01 6.60656602e-02 9.38784171e-03 2.79423102e+02] [-6.60640083e-02 9.97815269e-01 -4.86296974e-04 -1.16319334e+01] [-9.39945933e-03 -1.34985379e-04 9.99955815e-01 -6.14830075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62439141799996 meters 0.01539956235792855 Centerline is valid? [True, True] Translation: X:279.48, Y:-11.65, Z:-6.15 [[ 9.98458580e-01 5.47264780e-02 9.24535134e-03 2.79480880e+02] [-5.47244303e-02 9.98501383e-01 -4.74510386e-04 -1.16497562e+01] [-9.25746438e-03 -3.21676183e-05 9.99957148e-01 -6.14839839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68439141799996 meters 0.016993666234061955 Centerline is valid? [True, True] Translation: X:279.54, Y:-11.67, Z:-6.15 [[ 9.99179853e-01 3.94086107e-02 9.30502202e-03 2.79537607e+02] [-3.94058767e-02 9.99223173e-01 -4.77048202e-04 -1.16715273e+01] [-9.31659343e-03 1.09984402e-04 9.99956594e-01 -6.15105661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74439141799996 meters 0.02115659716638244 Centerline is valid? [True, True] Translation: X:279.60, Y:-11.69, Z:-6.15 [[ 9.99538816e-01 2.91528132e-02 8.50114631e-03 2.79596713e+02] [-2.91501751e-02 9.99574949e-01 -4.34093798e-04 -1.16881018e+01] [-8.51018795e-03 1.86083697e-04 9.99963770e-01 -6.15277107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80439141799997 meters 0.028730530844427192 Centerline is valid? [True, True] Translation: X:279.66, Y:-11.71, Z:-6.16 [[ 9.99825199e-01 1.68303526e-02 8.14317318e-03 2.79655061e+02] [-1.68275247e-02 9.99858321e-01 -4.15669568e-04 -1.17109644e+01] [-8.14901533e-03 2.78567461e-04 9.99966757e-01 -6.15503427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86439141799997 meters 0.02732485372834061 Centerline is valid? [True, True] Translation: X:279.71, Y:-11.72, Z:-6.15 [[ 9.99912133e-01 1.00022454e-02 8.69945399e-03 2.79714853e+02] [-9.99876105e-03 9.99949913e-01 -4.43921837e-04 -1.17179852e+01] [-8.70345847e-03 3.56899070e-04 9.99962060e-01 -6.15234133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92439141799997 meters 0.026644099573707097 Centerline is valid? [True, True] Translation: X:279.78, Y:-11.72, Z:-6.15 [[ 9.99864014e-01 1.36082536e-02 9.31498792e-03 2.79775672e+02] [-1.36044241e-02 9.99907343e-01 -4.74347128e-04 -1.17228392e+01] [-9.32057986e-03 3.47557577e-04 9.99956502e-01 -6.15291500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984391418 meters 0.023304565485752757 Centerline is valid? [True, True] Translation: X:279.84, Y:-11.72, Z:-6.15 [[ 9.99723732e-01 2.15438251e-02 9.39807604e-03 2.79835266e+02] [-2.15402682e-02 9.99767867e-01 -4.79539825e-04 -1.17212800e+01] [-9.40622556e-03 2.76970265e-04 9.99955722e-01 -6.15401887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044391418 meters 0.017035472927691142 Centerline is valid? [True, True] Translation: X:279.90, Y:-11.71, Z:-6.16 [[ 9.99323346e-01 3.56751680e-02 8.95164238e-03 2.79896303e+02] [-3.56725081e-02 9.99363429e-01 -4.56689718e-04 -1.17126172e+01] [-8.96223651e-03 1.37053162e-04 9.99959829e-01 -6.15515935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104391418 meters 0.015003504903455464 Centerline is valid? [True, True] Translation: X:279.95, Y:-11.71, Z:-6.16 [[ 9.98871804e-01 4.69532056e-02 7.10738543e-03 2.79954999e+02] [-4.69518061e-02 9.98897090e-01 -3.63713292e-04 -1.17084281e+01] [-7.11662413e-03 2.95983692e-05 9.99974676e-01 -6.15881672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164391418 meters 0.015180135944411467 Centerline is valid? [True, True] Translation: X:280.01, Y:-11.71, Z:-6.16 [[ 9.98765386e-01 4.94685007e-02 4.53561263e-03 2.80013744e+02] [-4.94679553e-02 9.98775684e-01 -2.32412630e-04 -1.17100252e+01] [-4.54155672e-03 7.75820687e-06 9.99989687e-01 -6.16157259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224391418 meters 0.015366212230591307 Centerline is valid? [True, True] Translation: X:280.07, Y:-11.72, Z:-6.17 [[ 9.98854382e-01 4.78068178e-02 2.10511061e-03 2.80072005e+02] [-4.78066951e-02 9.98856600e-01 -1.08640000e-04 -1.17155139e+01] [-2.10789736e-03 7.87715874e-06 9.99997778e-01 -6.16564518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284391418 meters 0.01639199539283266 Centerline is valid? [True, True] Translation: X:280.13, Y:-11.73, Z:-6.17 [[ 9.99223399e-01 3.93995507e-02 5.23049237e-04 2.80130228e+02] [-3.93995413e-02 9.99223536e-01 -2.82516627e-05 -1.17278661e+01] [-5.23756211e-04 7.62182244e-06 9.99999863e-01 -6.16896736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344391418 meters 0.01826227671075846 Centerline is valid? [True, True] Translation: X:280.19, Y:-11.74, Z:-6.17 [[ 9.99485873e-01 3.20211913e-02 1.62235441e-03 2.80188110e+02] [-3.20210956e-02 9.99487190e-01 -8.49023358e-05 -1.17382498e+01] [-1.62424112e-03 3.29091196e-05 9.99998680e-01 -6.16925370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404391418 meters 0.022778226045072666 Centerline is valid? [True, True] Translation: X:280.25, Y:-11.75, Z:-6.17 [[ 9.99758883e-01 2.15105501e-02 4.41268023e-03 2.80246309e+02] [-2.15097740e-02 9.99768613e-01 -2.23270102e-04 -1.17532764e+01] [-4.41646185e-03 1.28300514e-04 9.99990239e-01 -6.16800159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464391418 meters 0.02665256584993155 Centerline is valid? [True, True] Translation: X:280.31, Y:-11.77, Z:-6.17 [[ 9.99892718e-01 1.28980948e-02 6.94207579e-03 2.80305991e+02] [-1.28959668e-02 9.99916782e-01 -3.51200435e-04 -1.17655717e+01] [-6.94602790e-03 2.61637978e-04 9.99975842e-01 -6.16686580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524391418 meters 0.031494341615731426 Centerline is valid? [True, True] Translation: X:280.37, Y:-11.78, Z:-6.17 [[ 9.99936460e-01 7.55898993e-03 8.36292361e-03 2.80365017e+02] [-7.55571974e-03 9.99971366e-01 -4.22560156e-04 -1.17775835e+01] [-8.36587828e-03 3.59345399e-04 9.99964941e-01 -6.16783872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584391418 meters 0.033137937570665896 Centerline is valid? [True, True] Translation: X:280.42, Y:-11.78, Z:-6.17 [[ 9.99937394e-01 4.02496950e-04 1.11823895e-02 2.80424909e+02] [-3.96203851e-04 9.99999762e-01 -5.64978393e-04 -1.17844340e+01] [-1.11826142e-02 5.60512516e-04 9.99937316e-01 -6.16536298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64439141799994 meters 0.03755018226223438 Centerline is valid? [True, True] Translation: X:280.48, Y:-11.79, Z:-6.17 [[ 9.99907177e-01 -5.96262456e-03 1.22508839e-02 2.80484726e+02] [ 5.97065497e-03 9.99981984e-01 -6.19026032e-04 -1.17937781e+01] [-1.22469721e-02 6.92114373e-04 9.99924763e-01 -6.16571314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70439141799994 meters 0.03841171978092008 Centerline is valid? [True, True] Translation: X:280.55, Y:-11.80, Z:-6.17 [[ 9.99898831e-01 -8.34110759e-03 1.15218703e-02 2.80546004e+02] [ 8.34836403e-03 9.99964983e-01 -5.81843153e-04 -1.17971565e+01] [-1.15166136e-02 6.77973056e-04 9.99933452e-01 -6.16773043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76439141799995 meters 0.03925957529966427 Centerline is valid? [True, True] Translation: X:280.61, Y:-11.80, Z:-6.17 [[ 9.99925265e-01 -6.99348807e-03 1.00277694e-02 2.80607571e+02] [ 6.99891516e-03 9.99975379e-01 -5.06215280e-04 -1.17982859e+01] [-1.00239823e-02 5.76360955e-04 9.99949593e-01 -6.17193312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82439141799995 meters 0.038427688273558705 Centerline is valid? [True, True] Translation: X:280.67, Y:-11.80, Z:-6.17 [[ 9.99942329e-01 -4.79703270e-03 9.60870818e-03 2.80669585e+02] [ 4.80192088e-03 9.99988353e-01 -4.85717597e-04 -1.17980254e+01] [-9.60626626e-03 5.31829841e-04 9.99953717e-01 -6.17443355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88439141799995 meters 0.0343456010706691 Centerline is valid? [True, True] Translation: X:280.73, Y:-11.79, Z:-6.18 [[ 9.99969220e-01 2.01841629e-05 7.84591651e-03 2.80730633e+02] [-1.70638278e-05 9.99999921e-01 -3.97768560e-04 -1.17901557e+01] [-7.84592391e-03 3.97622435e-04 9.99969141e-01 -6.17710184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94439141799995 meters 0.030699175374693327 Centerline is valid? [True, True] Translation: X:280.79, Y:-11.78, Z:-6.18 [[ 9.99943814e-01 6.77269160e-03 8.15472820e-03 2.80791528e+02] [-6.76954131e-03 9.99977001e-01 -4.13855146e-04 -1.17825049e+01] [-8.15734356e-03 3.58628124e-04 9.99966664e-01 -6.17824773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00439141799995 meters 0.02453517326283181 Centerline is valid? [True, True] Translation: X:280.85, Y:-11.77, Z:-6.18 [[ 9.99821133e-01 1.55840756e-02 1.07162741e-02 2.80852621e+02] [-1.55791400e-02 9.99878490e-01 -5.43902776e-04 -1.17693824e+01] [-1.07234482e-02 3.76855155e-04 9.99942431e-01 -6.17549397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06439141799996 meters 0.02256925314952984 Centerline is valid? [True, True] Translation: X:280.91, Y:-11.76, Z:-6.18 [[ 9.99691891e-01 2.15022647e-02 1.24006686e-02 2.80912701e+02] [-2.14961104e-02 9.99768734e-01 -6.29372354e-04 -1.17648859e+01] [-1.24113337e-02 3.62612296e-04 9.99922911e-01 -6.17580892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12439141799996 meters 0.018839386499009302 Centerline is valid? [True, True] Translation: X:280.97, Y:-11.76, Z:-6.18 [[ 9.99470378e-01 2.93310749e-02 1.40943664e-02 2.80973324e+02] [-2.93239001e-02 9.99569706e-01 -7.15491782e-04 -1.17560073e+01] [-1.41092879e-02 3.01811049e-04 9.99900413e-01 -6.17620544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18439141799996 meters 0.017220633993967373 Centerline is valid? [True, True] Translation: X:281.03, Y:-11.75, Z:-6.18 [[ 9.99254457e-01 3.58521713e-02 1.43231139e-02 2.81032093e+02] [-3.58454311e-02 9.99357082e-01 -7.27109499e-04 -1.17511135e+01] [-1.43399738e-02 2.13149214e-04 9.99897155e-01 -6.17873655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24439141799996 meters 0.015542788721740693 Centerline is valid? [True, True] Translation: X:281.09, Y:-11.75, Z:-6.18 [[ 9.99076628e-01 4.04976508e-02 1.43468473e-02 2.81090858e+02] [-4.04913768e-02 9.99179623e-01 -7.27636411e-04 -1.17450717e+01] [-1.43645450e-02 1.46040933e-04 9.99896814e-01 -6.17977167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30439141799997 meters 0.015032174569941343 Centerline is valid? [True, True] Translation: X:281.15, Y:-11.74, Z:-6.18 [[ 9.98963360e-01 4.32277325e-02 1.42677485e-02 2.81150075e+02] [-4.32218223e-02 9.99065239e-01 -7.22470469e-04 -1.17447772e+01] [-1.42856423e-02 1.05043436e-04 9.99897949e-01 -6.18119742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36439141799997 meters 0.014685385836672806 Centerline is valid? [True, True] Translation: X:281.21, Y:-11.74, Z:-6.18 [[ 9.98810875e-01 4.62368823e-02 1.54591732e-02 2.81209182e+02] [-4.62303257e-02 9.98930501e-01 -7.81409511e-04 -1.17441010e+01] [-1.54787696e-02 6.57977042e-05 9.99880195e-01 -6.18219075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42439141799997 meters 0.01451418757465235 Centerline is valid? [True, True] Translation: X:281.27, Y:-11.75, Z:-6.18 [[ 9.98735668e-01 4.76593622e-02 1.59890515e-02 2.81267768e+02] [-4.76525528e-02 9.98863646e-01 -8.06807960e-04 -1.17458979e+01] [-1.60093342e-02 4.38687678e-05 9.99871841e-01 -6.18370517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484391418 meters 0.014616061988913041 Centerline is valid? [True, True] Translation: X:281.33, Y:-11.75, Z:-6.19 [[ 9.98712688e-01 4.83294924e-02 1.54021899e-02 2.81326402e+02] [-4.83232716e-02 9.98831447e-01 -7.76012959e-04 -1.17499004e+01] [-1.54216960e-02 3.07297795e-05 9.99881078e-01 -6.18594505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544391418 meters 0.0147347588972849 Centerline is valid? [True, True] Translation: X:281.38, Y:-11.76, Z:-6.19 [[ 9.98844071e-01 4.55663206e-02 1.53046630e-02 2.81383755e+02] [-4.55598695e-02 9.98961313e-01 -7.70089062e-04 -1.17574536e+01] [-1.53238564e-02 7.19204438e-05 9.99882580e-01 -6.18735741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604391418 meters 0.015403681269118619 Centerline is valid? [True, True] Translation: X:281.44, Y:-11.77, Z:-6.19 [[ 9.99040366e-01 4.09928870e-02 1.54250111e-02 2.81442246e+02] [-4.09858189e-02 9.99159428e-01 -7.74198731e-04 -1.17663860e+01] [-1.54437819e-02 1.41249070e-04 9.99880728e-01 -6.18816122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664391418 meters 0.015718648773974598 Centerline is valid? [True, True] Translation: X:281.50, Y:-11.77, Z:-6.19 [[ 9.99119335e-01 3.93506571e-02 1.45630085e-02 2.81500829e+02] [-3.93441977e-02 9.99225451e-01 -7.29895348e-04 -1.17733588e+01] [-1.45804506e-02 1.56282669e-04 9.99893687e-01 -6.19045450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724391418 meters 0.015096650642831657 Centerline is valid? [True, True] Translation: X:281.56, Y:-11.78, Z:-6.19 [[ 9.99084578e-01 4.00842705e-02 1.49417814e-02 2.81560004e+02] [-4.00775723e-02 9.99196292e-01 -7.47568392e-04 -1.17778094e+01] [-1.49597383e-02 1.48053726e-04 9.99888086e-01 -6.19060914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784391418 meters 0.014508944294920159 Centerline is valid? [True, True] Translation: X:281.62, Y:-11.78, Z:-6.19 [[ 9.98945703e-01 4.30572171e-02 1.59235399e-02 2.81618735e+02] [-4.30500018e-02 9.99072602e-01 -7.95776718e-04 -1.17808731e+01] [-1.59430364e-02 1.09429311e-04 9.99872896e-01 -6.19060600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844391418 meters 0.01443239573258007 Centerline is valid? [True, True] Translation: X:281.68, Y:-11.79, Z:-6.19 [[ 9.98891717e-01 4.40442089e-02 1.65965726e-02 2.81676140e+02] [-4.40365290e-02 9.99029578e-01 -8.28084339e-04 -1.17852785e+01] [-1.66169392e-02 9.63111374e-05 9.99861924e-01 -6.19202396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904391418 meters 0.01566642234233716 Centerline is valid? [True, True] Translation: X:281.73, Y:-11.80, Z:-6.20 [[ 9.99182698e-01 3.75618307e-02 1.49347192e-02 2.81734292e+02] [-3.75549090e-02 9.99294289e-01 -7.43746874e-04 -1.18001531e+01] [-1.49521161e-02 1.82266987e-04 9.99888194e-01 -6.19590427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964391418 meters 0.01745887011266019 Centerline is valid? [True, True] Translation: X:281.79, Y:-11.81, Z:-6.20 [[ 9.99433878e-01 3.04229049e-02 1.43655821e-02 2.81793100e+02] [-3.04157807e-02 9.99537078e-01 -7.14188137e-04 -1.18117067e+01] [-1.43806597e-02 2.76843423e-04 9.99896555e-01 -6.19802131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024391418 meters 0.0236230732566628 Centerline is valid? [True, True] Translation: X:281.85, Y:-11.83, Z:-6.20 [[ 9.99766771e-01 1.72356803e-02 1.30129080e-02 2.81851547e+02] [-1.72287318e-02 9.99851366e-01 -6.45897295e-04 -1.18310925e+01] [-1.30221063e-02 4.21550752e-04 9.99915120e-01 -6.20080635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084391418 meters 0.027061385618230852 Centerline is valid? [True, True] Translation: X:281.91, Y:-11.84, Z:-6.20 [[ 9.99886486e-01 8.78190432e-03 1.22430962e-02 2.81911423e+02] [-8.77512529e-03 9.99961313e-01 -6.07312405e-04 -1.18428615e+01] [-1.22479559e-02 4.99808764e-04 9.99924866e-01 -6.20254835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14439141799994 meters 0.03130224084129173 Centerline is valid? [True, True] Translation: X:281.97, Y:-11.85, Z:-6.20 [[ 9.99924981e-01 1.36432575e-03 1.21725169e-02 2.81971736e+02] [-1.35707564e-03 9.99998897e-01 -6.03853267e-04 -1.18539427e+01] [-1.21733273e-02 5.87288940e-04 9.99925730e-01 -6.20392539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20439141799994 meters 0.0354995133475211 Centerline is valid? [True, True] Translation: X:282.03, Y:-11.87, Z:-6.20 [[ 9.99875178e-01 -7.37292600e-03 1.39738512e-02 2.82032601e+02] [ 7.38332882e-03 9.99972503e-01 -6.93005268e-04 -1.18651465e+01] [-1.39683574e-02 7.96092304e-04 9.99902121e-01 -6.20325943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26439141799995 meters 0.041714020667577435 Centerline is valid? [True, True] Translation: X:282.09, Y:-11.88, Z:-6.20 [[ 9.99818388e-01 -1.16374086e-02 1.50917472e-02 2.82091835e+02] [ 1.16500397e-02 9.99931855e-01 -7.49309135e-04 -1.18774150e+01] [-1.50819987e-02 9.24992506e-04 9.99885832e-01 -6.20417590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32439141799995 meters 0.04068911321780818 Centerline is valid? [True, True] Translation: X:282.15, Y:-11.88, Z:-6.20 [[ 9.99757773e-01 -1.57897886e-02 1.53322353e-02 2.82152253e+02] [ 1.58033106e-02 9.99874830e-01 -7.61166564e-04 -1.18792982e+01] [-1.53182975e-02 1.00328226e-03 9.99882165e-01 -6.20483519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38439141799995 meters 0.040694000439891236 Centerline is valid? [True, True] Translation: X:282.21, Y:-11.88, Z:-6.21 [[ 9.99735330e-01 -1.71607076e-02 1.53225595e-02 2.82214418e+02] [ 1.71743685e-02 9.99852221e-01 -7.60403874e-04 -1.18809961e+01] [-1.53072461e-02 1.02335790e-03 9.99882314e-01 -6.20647955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44439141799995 meters 0.04091344243693158 Centerline is valid? [True, True] Translation: X:282.28, Y:-11.88, Z:-6.21 [[ 9.99742184e-01 -1.66314600e-02 1.54583303e-02 2.82276181e+02] [ 1.66453210e-02 9.99861162e-01 -7.68432756e-04 -1.18831628e+01] [-1.54434040e-02 1.02554351e-03 9.99880218e-01 -6.20843570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50439141799995 meters 0.03946156603022901 Centerline is valid? [True, True] Translation: X:282.34, Y:-11.88, Z:-6.21 [[ 9.99774379e-01 -1.53487461e-02 1.46835562e-02 2.82338049e+02] [ 1.53611308e-02 9.99881744e-01 -7.31025051e-04 -1.18829799e+01] [-1.46705995e-02 9.56416145e-04 9.99891924e-01 -6.21046274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56439141799996 meters 0.03817098942221069 Centerline is valid? [True, True] Translation: X:282.40, Y:-11.88, Z:-6.21 [[ 9.99863999e-01 -9.58534620e-03 1.34202954e-02 2.82398177e+02] [ 9.59519603e-03 9.99953741e-01 -6.69753195e-04 -1.18807182e+01] [-1.34132548e-02 7.98432474e-04 9.99909719e-01 -6.21392811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62439141799996 meters 0.03394107058102758 Centerline is valid? [True, True] Translation: X:282.46, Y:-11.87, Z:-6.22 [[ 9.99912409e-01 -3.44899793e-03 1.27780756e-02 2.82458866e+02] [ 3.45742931e-03 9.99993820e-01 -6.37800378e-04 -1.18746009e+01] [-1.27757968e-02 6.81923805e-04 9.99918154e-01 -6.21504242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68439141799996 meters 0.027590776406771697 Centerline is valid? [True, True] Translation: X:282.52, Y:-11.86, Z:-6.21 [[ 9.99857408e-01 8.82507312e-03 1.43972997e-02 2.82519893e+02] [-8.81563943e-03 9.99960883e-01 -7.18573585e-04 -1.18627538e+01] [-1.44030780e-02 5.91549719e-04 9.99896095e-01 -6.21463520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74439141799996 meters 0.020791000636120775 Centerline is valid? [True, True] Translation: X:282.58, Y:-11.85, Z:-6.21 [[ 9.99563575e-01 2.40866003e-02 1.71025197e-02 2.82581359e+02] [-2.40755159e-02 9.99709778e-01 -8.53742992e-04 -1.18495377e+01] [-1.71181200e-02 4.41618412e-04 9.99853377e-01 -6.21349401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80439141799997 meters 0.015193201983682788 Centerline is valid? [True, True] Translation: X:282.64, Y:-11.84, Z:-6.21 [[ 9.99063195e-01 3.92433549e-02 1.82398063e-02 2.82642781e+02] [-3.92332638e-02 9.99229664e-01 -9.10891401e-04 -1.18364292e+01] [-1.82615019e-02 1.94430942e-04 9.99833226e-01 -6.21412076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86439141799997 meters 0.014033149399027773 Centerline is valid? [True, True] Translation: X:282.70, Y:-11.83, Z:-6.22 [[ 9.98531475e-01 5.10603591e-02 1.81034240e-02 2.82701982e+02] [-5.10523492e-02 9.98695569e-01 -9.04626702e-04 -1.18278549e+01] [-1.81259998e-02 -2.09240871e-05 9.99835710e-01 -6.21573020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92439141799997 meters 0.014574924985315627 Centerline is valid? [True, True] Translation: X:282.76, Y:-11.83, Z:-6.22 [[ 9.98261718e-01 5.61037399e-02 1.80530659e-02 2.82760946e+02] [-5.60966252e-02 9.98424938e-01 -9.00658387e-04 -1.18258456e+01] [-1.80751615e-02 -1.13623280e-04 9.99836624e-01 -6.21732590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984391418 meters 0.01487290487260227 Centerline is valid? [True, True] Translation: X:282.82, Y:-11.83, Z:-6.22 [[ 9.98185917e-01 5.74769259e-02 1.79242398e-02 2.82819449e+02] [-5.74701591e-02 9.98346825e-01 -8.92814542e-04 -1.18274371e+01] [-1.79459242e-02 -1.38914011e-04 9.99838949e-01 -6.21932174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044391418 meters 0.01438093477511614 Centerline is valid? [True, True] Translation: X:282.88, Y:-11.84, Z:-6.22 [[ 9.98512620e-01 5.09815039e-02 1.93244189e-02 2.82878195e+02] [-5.09724540e-02 9.98699597e-01 -9.60899438e-04 -1.18373972e+01] [-1.93482774e-02 -2.55428368e-05 9.99812804e-01 -6.21899647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104391418 meters 0.01422925016247136 Centerline is valid? [True, True] Translation: X:282.94, Y:-11.85, Z:-6.22 [[ 9.98820708e-01 4.47416434e-02 1.88515111e-02 2.82935565e+02] [-4.47319464e-02 9.98998587e-01 -9.35955557e-04 -1.18467852e+01] [-1.88745091e-02 9.15870102e-05 9.99821856e-01 -6.21982062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164391418 meters 0.015908251788839534 Centerline is valid? [True, True] Translation: X:282.99, Y:-11.86, Z:-6.22 [[ 9.99208974e-01 3.53674464e-02 1.81815875e-02 2.82994837e+02] [-3.53569102e-02 9.99374343e-01 -9.00725918e-04 -1.18590568e+01] [-1.82020684e-02 2.57168665e-04 9.99834296e-01 -6.22030802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224391418 meters 0.019220323685678647 Centerline is valid? [True, True] Translation: X:283.05, Y:-11.87, Z:-6.22 [[ 9.99425852e-01 2.91748622e-02 1.72277318e-02 2.83053876e+02] [-2.91644956e-02 9.99574262e-01 -8.52725651e-04 -1.18714475e+01] [-1.72452754e-02 3.49797952e-04 9.99851228e-01 -6.22231058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284391418 meters 0.02255655913029563 Centerline is valid? [True, True] Translation: X:283.11, Y:-11.88, Z:-6.22 [[ 9.99627625e-01 2.03971246e-02 1.81264591e-02 2.83114356e+02] [-2.03842154e-02 9.99791818e-01 -8.96674774e-04 -1.18848400e+01] [-1.81409751e-02 5.26847228e-04 9.99835300e-01 -6.22162969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344391418 meters 0.02565197547129521 Centerline is valid? [True, True] Translation: X:283.18, Y:-11.90, Z:-6.22 [[ 9.99735872e-01 1.42062094e-02 1.80656851e-02 2.83175002e+02] [-1.41923704e-02 9.99898884e-01 -8.94019770e-04 -1.18969534e+01] [-1.80765590e-02 6.37388741e-04 9.99836402e-01 -6.22141176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404391418 meters 0.025612172707342253 Centerline is valid? [True, True] Translation: X:283.24, Y:-11.90, Z:-6.22 [[ 9.99746506e-01 1.40918392e-02 1.75597458e-02 2.83236763e+02] [-1.40787614e-02 9.99900512e-01 -8.68166903e-04 -1.19037532e+01] [-1.75702329e-02 6.20727357e-04 9.99845439e-01 -6.22272892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464391418 meters 0.02481480284266526 Centerline is valid? [True, True] Translation: X:283.30, Y:-11.91, Z:-6.23 [[ 9.99697534e-01 1.87258776e-02 1.59430708e-02 2.83296952e+02] [-1.87155995e-02 9.99824533e-01 -7.93647027e-04 -1.19071998e+01] [-1.59551350e-02 4.95022848e-04 9.99872586e-01 -6.22614565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524391418 meters 0.02102985796091276 Centerline is valid? [True, True] Translation: X:283.36, Y:-11.90, Z:-6.23 [[ 9.99634011e-01 2.23529254e-02 1.52377833e-02 2.83359291e+02] [-2.23439807e-02 9.99750055e-01 -7.57027573e-04 -1.19041415e+01] [-1.52508965e-02 4.16277774e-04 9.99883612e-01 -6.22734892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584391418 meters 0.021355368017773046 Centerline is valid? [True, True] Translation: X:283.42, Y:-11.91, Z:-6.23 [[ 9.99618245e-01 2.44880457e-02 1.27944988e-02 2.83420419e+02] [-2.44818777e-02 9.99700070e-01 -6.38501593e-04 -1.19078309e+01] [-1.28062970e-02 3.25024487e-04 9.99917943e-01 -6.23135468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64439141799994 meters 0.025475334923584298 Centerline is valid? [True, True] Translation: X:283.48, Y:-11.92, Z:-6.24 [[ 9.99720748e-01 2.16201900e-02 9.53906383e-03 2.83479779e+02] [-2.16165906e-02 9.99766219e-01 -4.80287558e-04 -1.19175491e+01] [-9.54721769e-03 2.73951399e-04 9.99954387e-01 -6.23737743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70439141799994 meters 0.02361859751360853 Centerline is valid? [True, True] Translation: X:283.54, Y:-11.92, Z:-6.24 [[ 9.99796407e-01 1.85178149e-02 8.01471096e-03 2.83540067e+02] [-1.85151722e-02 9.99828498e-01 -4.03815166e-04 -1.19173423e+01] [-8.02081419e-03 2.55339198e-04 9.99967800e-01 -6.23726147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76439141799995 meters 0.024940376378201318 Centerline is valid? [True, True] Translation: X:283.60, Y:-11.92, Z:-6.24 [[ 9.99868679e-01 1.42384130e-02 7.73906750e-03 2.83600703e+02] [-1.42358241e-02 9.99898590e-01 -3.89504886e-04 -1.19208591e+01] [-7.74382861e-03 2.79281732e-04 9.99969977e-01 -6.23739524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82439141799995 meters 0.027007233918574944 Centerline is valid? [True, True] Translation: X:283.66, Y:-11.92, Z:-6.24 [[ 9.99876647e-01 1.29407650e-02 8.90100554e-03 2.83660422e+02] [-1.29372890e-02 9.99916209e-01 -4.47984870e-04 -1.19246877e+01] [-8.90605698e-03 3.32774728e-04 9.99960285e-01 -6.23691437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88439141799995 meters 0.02588285428802018 Centerline is valid? [True, True] Translation: X:283.72, Y:-11.92, Z:-6.24 [[ 9.99851542e-01 1.35157529e-02 1.06872838e-02 2.83722337e+02] [-1.35107793e-02 9.99908581e-01 -5.37436068e-04 -1.19239429e+01] [-1.06935706e-02 3.92962749e-04 9.99942745e-01 -6.23542717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94439141799995 meters 0.024214783635064765 Centerline is valid? [True, True] Translation: X:283.78, Y:-11.92, Z:-6.23 [[ 9.99796507e-01 1.59015125e-02 1.24131257e-02 2.83784339e+02] [-1.58949839e-02 9.99873472e-01 -6.24426409e-04 -1.19218356e+01] [-1.24214845e-02 4.26992909e-04 9.99922759e-01 -6.23438690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00439141799995 meters 0.022999726008823707 Centerline is valid? [True, True] Translation: X:283.85, Y:-11.92, Z:-6.24 [[ 9.99725992e-01 1.98028811e-02 1.24814300e-02 2.83846091e+02] [-1.97965678e-02 9.99803831e-01 -6.29174328e-04 -1.19217581e+01] [-1.24914410e-02 3.81912454e-04 9.99921906e-01 -6.23596377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06439141799996 meters 0.02139883606358393 Centerline is valid? [True, True] Translation: X:283.91, Y:-11.92, Z:-6.24 [[ 9.99616975e-01 2.48393801e-02 1.22028171e-02 2.83906375e+02] [-2.48337071e-02 9.99691406e-01 -6.16224379e-04 -1.19208787e+01] [-1.22143581e-02 3.12947163e-04 9.99925353e-01 -6.23783038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12439141799996 meters 0.01917549988152154 Centerline is valid? [True, True] Translation: X:283.97, Y:-11.92, Z:-6.24 [[ 9.99482765e-01 2.98705950e-02 1.19143100e-02 2.83966469e+02] [-2.98655345e-02 9.99553744e-01 -6.02473205e-04 -1.19173281e+01] [-1.19269894e-02 2.46334347e-04 9.99928841e-01 -6.23896036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18439141799996 meters 0.01714451295496767 Centerline is valid? [True, True] Translation: X:284.02, Y:-11.91, Z:-6.24 [[ 9.99287190e-01 3.60479061e-02 1.12098424e-02 2.84024697e+02] [-3.60438134e-02 9.99350050e-01 -5.66984546e-04 -1.19125713e+01] [-1.12229952e-02 1.62534926e-04 9.99937007e-01 -6.24090431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24439141799996 meters 0.017126262759690817 Centerline is valid? [True, True] Translation: X:284.08, Y:-11.91, Z:-6.24 [[ 9.99273893e-01 3.68890453e-02 9.53331593e-03 2.84082993e+02] [-3.68861301e-02 9.99319359e-01 -4.81499321e-04 -1.19138345e+01] [-9.54458922e-03 1.29502570e-04 9.99954441e-01 -6.24442955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30439141799997 meters 0.01801279737132364 Centerline is valid? [True, True] Translation: X:284.14, Y:-11.92, Z:-6.25 [[ 9.99382786e-01 3.39623566e-02 8.97801811e-03 2.84141919e+02] [-3.39596582e-02 9.99423102e-01 -4.52884330e-04 -1.19189608e+01] [-8.98821972e-03 1.47714377e-04 9.99959594e-01 -6.24618085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36439141799997 meters 0.019494625461780095 Centerline is valid? [True, True] Translation: X:284.20, Y:-11.93, Z:-6.25 [[ 9.99599790e-01 2.67471797e-02 9.21129491e-03 2.84201596e+02] [-2.67440440e-02 9.99642207e-01 -4.63449141e-04 -1.19259488e+01] [-9.22039513e-03 2.16916387e-04 9.99957468e-01 -6.24557829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42439141799997 meters 0.025606092856030445 Centerline is valid? [True, True] Translation: X:284.26, Y:-11.94, Z:-6.25 [[ 9.99729267e-01 2.10309980e-02 9.95443336e-03 2.84259180e+02] [-2.10270527e-02 9.99778782e-01 -5.00836831e-04 -1.19392321e+01] [-9.96276435e-03 2.91388842e-04 9.99950328e-01 -6.24868021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484391418 meters 0.025854853667895056 Centerline is valid? [True, True] Translation: X:284.32, Y:-11.95, Z:-6.25 [[ 9.99856067e-01 1.24736920e-02 1.15000638e-02 2.84319455e+02] [-1.24678840e-02 9.99922107e-01 -5.76596525e-04 -1.19450140e+01] [-1.15063603e-02 4.33132072e-04 9.99933706e-01 -6.24618669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544391418 meters 0.02822582066041952 Centerline is valid? [True, True] Translation: X:284.38, Y:-11.95, Z:-6.25 [[ 9.99876085e-01 6.85930746e-03 1.41691334e-02 2.84380487e+02] [-6.84993247e-03 9.99976287e-01 -7.10074846e-04 -1.19523295e+01] [-1.41736680e-02 6.12929250e-04 9.99899361e-01 -6.24530548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604391418 meters 0.028267457955130682 Centerline is valid? [True, True] Translation: X:284.44, Y:-11.96, Z:-6.25 [[ 9.99860008e-01 7.18788635e-03 1.51095870e-02 2.84443243e+02] [-7.17728242e-03 9.99973957e-01 -7.55911231e-04 -1.19560361e+01] [-1.51146270e-02 6.47359636e-04 9.99885558e-01 -6.24564683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664391418 meters 0.026839721563323392 Centerline is valid? [True, True] Translation: X:284.51, Y:-11.96, Z:-6.25 [[ 9.99821506e-01 1.07945666e-02 1.55059179e-02 2.84505193e+02] [-1.07837241e-02 9.99941548e-01 -7.82696022e-04 -1.19562987e+01] [-1.55134604e-02 6.15344775e-04 9.99879470e-01 -6.24711472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724391418 meters 0.025664630534234113 Centerline is valid? [True, True] Translation: X:284.57, Y:-11.96, Z:-6.25 [[ 9.99792959e-01 1.39496698e-02 1.48137271e-02 2.84566435e+02] [-1.39401049e-02 9.99902552e-01 -7.48745935e-04 -1.19566648e+01] [-1.48227283e-02 5.42086003e-04 9.99889990e-01 -6.24883239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784391418 meters 0.02410763429229317 Centerline is valid? [True, True] Translation: X:284.63, Y:-11.96, Z:-6.25 [[ 9.99751789e-01 1.84704874e-02 1.24579861e-02 2.84627598e+02] [-1.84640688e-02 9.99829326e-01 -6.30043484e-04 -1.19554567e+01] [-1.24674970e-02 3.99861988e-04 9.99922198e-01 -6.25282238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844391418 meters 0.02303034637474435 Centerline is valid? [True, True] Translation: X:284.69, Y:-11.96, Z:-6.26 [[ 9.99694888e-01 2.18488012e-02 1.15222024e-02 2.84688554e+02] [-2.18435274e-02 9.99761231e-01 -5.83368028e-04 -1.19558245e+01] [-1.15321972e-02 3.31504491e-04 9.99933447e-01 -6.25549607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904391418 meters 0.02279338404089806 Centerline is valid? [True, True] Translation: X:284.75, Y:-11.96, Z:-6.26 [[ 9.99669641e-01 2.30500934e-02 1.13710676e-02 2.84748555e+02] [-2.30450266e-02 9.99734262e-01 -5.76432523e-04 -1.19576218e+01] [-1.13813327e-02 3.14195538e-04 9.99935181e-01 -6.25725981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964391418 meters 0.020211023278242018 Centerline is valid? [True, True] Translation: X:284.81, Y:-11.96, Z:-6.26 [[ 9.99667363e-01 2.28752879e-02 1.19115363e-02 2.84808926e+02] [-2.28697210e-02 9.99738272e-01 -6.03376220e-04 -1.19552970e+01] [-1.19222212e-02 3.30762002e-04 9.99928873e-01 -6.25628415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024391418 meters 0.02599524273206104 Centerline is valid? [True, True] Translation: X:284.87, Y:-11.97, Z:-6.26 [[ 9.99740455e-01 1.93407057e-02 1.20399131e-02 2.84867476e+02] [-1.93347682e-02 9.99812880e-01 -6.09363016e-04 -1.19671825e+01] [-1.20494458e-02 3.76415929e-04 9.99927332e-01 -6.25938793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084391418 meters 0.030270523428147275 Centerline is valid? [True, True] Translation: X:284.93, Y:-11.98, Z:-6.26 [[ 9.99845692e-01 1.15354662e-02 1.32485917e-02 2.84928132e+02] [-1.15276058e-02 9.99933331e-01 -6.69512937e-04 -1.19765630e+01] [-1.32554315e-02 5.16685084e-04 9.99912009e-01 -6.25950809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14439141799994 meters 0.030511933224596444 Centerline is valid? [True, True] Translation: X:284.99, Y:-11.98, Z:-6.26 [[ 9.99886484e-01 5.27200185e-03 1.41147219e-02 2.84988540e+02] [-5.26245680e-03 9.99985899e-01 -7.13303377e-04 -1.19796391e+01] [-1.41182834e-02 6.38944292e-04 9.99900128e-01 -6.25923162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20439141799994 meters 0.03463084822284416 Centerline is valid? [True, True] Translation: X:285.05, Y:-11.99, Z:-6.26 [[ 9.99887347e-01 -2.42234697e-03 1.48130356e-02 2.85048326e+02] [ 2.43370736e-03 9.99996758e-01 -7.48940687e-04 -1.19873977e+01] [-1.48111734e-02 7.84906911e-04 9.99890000e-01 -6.26001862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26439141799995 meters 0.03766788997149805 Centerline is valid? [True, True] Translation: X:285.11, Y:-11.99, Z:-6.26 [[ 9.99852204e-01 -7.07535934e-03 1.56687301e-02 2.85109414e+02] [ 7.08863193e-03 9.99974562e-01 -7.91697971e-04 -1.19926536e+01] [-1.56627300e-02 9.02650822e-04 9.99876924e-01 -6.26078019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32439141799995 meters 0.0400604979272187 Centerline is valid? [True, True] Translation: X:285.17, Y:-12.00, Z:-6.26 [[ 9.99842397e-01 -7.64336118e-03 1.60237401e-02 2.85170657e+02] [ 7.65731604e-03 9.99970355e-01 -8.09713028e-04 -1.19975129e+01] [-1.60170761e-02 9.32284257e-04 9.99871284e-01 -6.26216455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38439141799995 meters 0.034144636791438816 Centerline is valid? [True, True] Translation: X:285.23, Y:-11.99, Z:-6.26 [[ 9.99855063e-01 -5.66027419e-03 1.60565709e-02 2.85232874e+02] [ 5.67404628e-03 9.99983573e-01 -8.12296563e-04 -1.19898951e+01] [-1.60517094e-02 9.03284558e-04 9.99870755e-01 -6.26219511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44439141799995 meters 0.03440236197438561 Centerline is valid? [True, True] Translation: X:285.29, Y:-11.99, Z:-6.26 [[ 9.99877811e-01 -1.92051424e-03 1.55136945e-02 2.85292369e+02] [ 1.93294444e-03 9.99997823e-01 -7.86286072e-04 -1.19910668e+01] [-1.55121507e-02 8.16177106e-04 9.99879346e-01 -6.26484566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50439141799995 meters 0.03155782742265541 Centerline is valid? [True, True] Translation: X:285.35, Y:-11.99, Z:-6.27 [[ 9.99893740e-01 1.89383439e-03 1.44541722e-02 2.85353480e+02] [-1.88345014e-03 9.99997958e-01 -7.32004145e-04 -1.19882865e+01] [-1.44555290e-02 7.04702649e-04 9.99895265e-01 -6.26649630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56439141799996 meters 0.02756089111128668 Centerline is valid? [True, True] Translation: X:285.41, Y:-11.98, Z:-6.27 [[ 9.99853967e-01 1.01142261e-02 1.37748482e-02 2.85414952e+02] [-1.01055673e-02 9.99948694e-01 -6.98053029e-04 -1.19817632e+01] [-1.37812017e-02 5.58748435e-04 9.99904879e-01 -6.26767506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62439141799996 meters 0.02291929367225327 Centerline is valid? [True, True] Translation: X:285.48, Y:-11.97, Z:-6.27 [[ 9.99704817e-01 2.02800909e-02 1.33789513e-02 2.85476365e+02] [-2.02728336e-02 9.99794255e-01 -6.77851292e-04 -1.19733864e+01] [-1.33899455e-02 4.06421949e-04 9.99910268e-01 -6.26878845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68439141799996 meters 0.019015724701560537 Centerline is valid? [True, True] Translation: X:285.54, Y:-11.97, Z:-6.27 [[ 9.99463355e-01 2.99709084e-02 1.32191687e-02 2.85536639e+02] [-2.99646636e-02 9.99550734e-01 -6.70260450e-04 -1.19658232e+01] [-1.32333180e-02 2.73792816e-04 9.99912398e-01 -6.27006390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74439141799996 meters 0.016381109633177557 Centerline is valid? [True, True] Translation: X:285.60, Y:-11.96, Z:-6.27 [[ 9.99173538e-01 3.83881341e-02 1.33638588e-02 2.85596484e+02] [-3.83825025e-02 9.99262890e-01 -6.77723950e-04 -1.19591997e+01] [-1.33800247e-02 1.64225494e-04 9.99910470e-01 -6.27161753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80439141799997 meters 0.015267426590924345 Centerline is valid? [True, True] Translation: X:285.65, Y:-11.96, Z:-6.27 [[ 9.98974333e-01 4.33813636e-02 1.29745669e-02 2.85654421e+02] [-4.33764760e-02 9.99058581e-01 -6.58012739e-04 -1.19566609e+01] [-1.29908978e-02 9.45468500e-05 9.99915610e-01 -6.27286997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86439141799997 meters 0.014809968235313655 Centerline is valid? [True, True] Translation: X:285.71, Y:-11.95, Z:-6.27 [[ 9.98802096e-01 4.72578054e-02 1.26914303e-02 2.85713896e+02] [-4.72534599e-02 9.98882725e-01 -6.42213630e-04 -1.19549408e+01] [-1.27076001e-02 4.17303264e-05 9.99919254e-01 -6.27255116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92439141799997 meters 0.014881296750225356 Centerline is valid? [True, True] Translation: X:285.77, Y:-11.96, Z:-6.27 [[ 9.98750019e-01 4.82939019e-02 1.28879106e-02 2.85772665e+02] [-4.82895148e-02 9.98833168e-01 -6.51558061e-04 -1.19570556e+01] [-1.29043389e-02 2.83926753e-05 9.99916735e-01 -6.27304997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984391418 meters 0.015116317814405244 Centerline is valid? [True, True] Translation: X:285.83, Y:-11.96, Z:-6.28 [[ 9.98811882e-01 4.69848172e-02 1.29325355e-02 2.85829491e+02] [-4.69802967e-02 9.98895603e-01 -6.53288637e-04 -1.19620420e+01] [-1.29489475e-02 4.49380963e-05 9.99916158e-01 -6.27509900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044391418 meters 0.015399630471463496 Centerline is valid? [True, True] Translation: X:285.89, Y:-11.97, Z:-6.28 [[ 9.99025054e-01 4.24679710e-02 1.20587456e-02 2.85887547e+02] [-4.24637365e-02 9.99097824e-01 -6.07097708e-04 -1.19709502e+01] [-1.20736487e-02 9.44464254e-05 9.99927106e-01 -6.27672241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104391418 meters 0.0164200717242171 Centerline is valid? [True, True] Translation: X:285.95, Y:-11.98, Z:-6.28 [[ 9.99285897e-01 3.61208235e-02 1.10897103e-02 2.85945941e+02] [-3.61168598e-02 9.99347418e-01 -5.57546122e-04 -1.19815310e+01] [-1.11026123e-02 1.56622466e-04 9.99938352e-01 -6.27882940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164391418 meters 0.017784022611171905 Centerline is valid? [True, True] Translation: X:286.00, Y:-11.99, Z:-6.28 [[ 9.99437532e-01 3.18241792e-02 1.05754998e-02 2.86004103e+02] [-3.18203425e-02 9.99493464e-01 -5.30903225e-04 -1.19903188e+01] [-1.05870385e-02 1.94088583e-04 9.99943937e-01 -6.28087711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224391418 meters 0.02458963913604786 Centerline is valid? [True, True] Translation: X:286.06, Y:-12.01, Z:-6.29 [[ 9.99620294e-01 2.56663484e-02 1.00253281e-02 2.86061758e+02] [-2.56626006e-02 9.99670535e-01 -5.02318525e-04 -1.20092883e+01] [-1.00349178e-02 2.44851799e-04 9.99949619e-01 -6.28687438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284391418 meters 0.021191903092401324 Centerline is valid? [True, True] Translation: X:286.12, Y:-12.01, Z:-6.28 [[ 9.99708471e-01 2.16823265e-02 1.06230508e-02 2.86121818e+02] [-2.16779035e-02 9.99764865e-01 -5.31345101e-04 -1.20101523e+01] [-1.06320737e-02 3.00904729e-04 9.99943433e-01 -6.28277346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344391418 meters 0.023331126844163063 Centerline is valid? [True, True] Translation: X:286.18, Y:-12.02, Z:-6.28 [[ 9.99726424e-01 2.02468671e-02 1.17107112e-02 2.86179822e+02] [-2.02413978e-02 9.99794951e-01 -5.85381932e-04 -1.20188869e+01] [-1.17201621e-02 3.48180622e-04 9.99931256e-01 -6.28382145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404391418 meters 0.0237127027799619 Centerline is valid? [True, True] Translation: X:286.24, Y:-12.03, Z:-6.28 [[ 9.99764845e-01 1.77427837e-02 1.24679034e-02 2.86240197e+02] [-1.77364071e-02 9.99842504e-01 -6.21839448e-04 -1.20254476e+01] [-1.24769729e-02 4.00557409e-04 9.99922079e-01 -6.28400402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464391418 meters 0.028985725972556203 Centerline is valid? [True, True] Translation: X:286.30, Y:-12.04, Z:-6.29 [[ 9.99845596e-01 1.28583685e-02 1.19768880e-02 2.86299139e+02] [-1.28521342e-02 9.99917229e-01 -5.97349946e-04 -1.20393946e+01] [-1.19835776e-02 4.43329141e-04 9.99928096e-01 -6.28719701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524391418 meters 0.029067906705366246 Centerline is valid? [True, True] Translation: X:286.36, Y:-12.05, Z:-6.29 [[ 9.99925188e-01 6.37797061e-03 1.04374243e-02 2.86359393e+02] [-6.37288418e-03 9.99979558e-01 -5.20512602e-04 -1.20457497e+01] [-1.04405308e-02 4.53957165e-04 9.99945393e-01 -6.28922166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584391418 meters 0.029937959203287262 Centerline is valid? [True, True] Translation: X:286.42, Y:-12.05, Z:-6.29 [[ 9.99946065e-01 2.45462561e-03 1.00916279e-02 2.86420297e+02] [-2.44967267e-03 9.99996873e-01 -5.03128535e-04 -1.20520124e+01] [-1.00928314e-02 4.78380214e-04 9.99948952e-01 -6.29086232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64439141799994 meters 0.03461459762962591 Centerline is valid? [True, True] Translation: X:286.48, Y:-12.06, Z:-6.29 [[ 9.99954258e-01 -1.63193400e-03 9.42434489e-03 2.86480018e+02] [ 1.63643618e-03 9.99998551e-01 -4.70026450e-04 -1.20633979e+01] [-9.42356417e-03 4.85427289e-04 9.99955479e-01 -6.29335186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70439141799994 meters 0.033932909277709214 Centerline is valid? [True, True] Translation: X:286.54, Y:-12.07, Z:-6.30 [[ 9.99962894e-01 -3.01328093e-03 8.07040510e-03 2.86542293e+02] [ 3.01662127e-03 9.99995369e-01 -4.01758258e-04 -1.20666618e+01] [-8.06915712e-03 4.26088706e-04 9.99967353e-01 -6.29591064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76439141799995 meters 0.03494429351035496 Centerline is valid? [True, True] Translation: X:286.61, Y:-12.07, Z:-6.30 [[ 9.99973335e-01 -2.64040475e-03 6.80868706e-03 2.86605660e+02] [ 2.64277148e-03 9.99996451e-01 -3.38631388e-04 -1.20705329e+01] [-6.80776877e-03 3.56616162e-04 9.99976763e-01 -6.29863565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82439141799995 meters 0.03398747487666052 Centerline is valid? [True, True] Translation: X:286.67, Y:-12.07, Z:-6.30 [[ 9.99958064e-01 -4.85050637e-04 9.14524237e-03 2.86666901e+02] [ 4.89258182e-04 9.99999776e-01 -4.57848564e-04 -1.20700534e+01] [-9.14501823e-03 4.62303749e-04 9.99958077e-01 -6.29752318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88439141799995 meters 0.032618795755453116 Centerline is valid? [True, True] Translation: X:286.73, Y:-12.07, Z:-6.30 [[ 9.99921361e-01 3.84820200e-03 1.19357829e-02 2.86726735e+02] [-3.84132919e-03 9.99992443e-01 -5.98686975e-04 -1.20701593e+01] [-1.19379966e-02 5.52790624e-04 9.99928587e-01 -6.29697518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94439141799995 meters 0.03013030562447868 Centerline is valid? [True, True] Translation: X:286.79, Y:-12.07, Z:-6.30 [[ 9.99887037e-01 7.44756814e-03 1.30555161e-02 2.86788804e+02] [-7.43965821e-03 9.99972111e-01 -6.54330823e-04 -1.20675405e+01] [-1.30600252e-02 5.57128330e-04 9.99914559e-01 -6.29696635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00439141799995 meters 0.027357541747131894 Centerline is valid? [True, True] Translation: X:286.85, Y:-12.06, Z:-6.30 [[ 9.99834794e-01 1.34519601e-02 1.22241531e-02 2.86849744e+02] [-1.34454612e-02 9.99909417e-01 -6.13675596e-04 -1.20639127e+01] [-1.22313010e-02 4.49214836e-04 9.99925094e-01 -6.30002090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06439141799996 meters 0.023224667785930235 Centerline is valid? [True, True] Translation: X:286.91, Y:-12.06, Z:-6.30 [[ 9.99778106e-01 1.80807864e-02 1.08085473e-02 2.86911985e+02] [-1.80759791e-02 9.99836469e-01 -5.42309520e-04 -1.20601919e+01] [-1.08165851e-02 3.46814110e-04 9.99941439e-01 -6.30310742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12439141799996 meters 0.02197410290200501 Centerline is valid? [True, True] Translation: X:286.97, Y:-12.06, Z:-6.31 [[ 9.99708426e-01 2.23947785e-02 9.02975328e-03 2.86971597e+02] [-2.23915869e-02 9.99749174e-01 -4.54411415e-04 -1.20579756e+01] [-9.03766482e-03 2.52088415e-04 9.99959128e-01 -6.30658049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18439141799996 meters 0.01985657401845344 Centerline is valid? [True, True] Translation: X:287.03, Y:-12.05, Z:-6.31 [[ 9.99616688e-01 2.63311991e-02 8.55246545e-03 2.87030916e+02] [-2.63284744e-02 9.99653253e-01 -4.31042101e-04 -1.20541826e+01] [-8.56084976e-03 2.05703510e-04 9.99963334e-01 -6.30786205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24439141799996 meters 0.016811291253669845 Centerline is valid? [True, True] Translation: X:287.09, Y:-12.05, Z:-6.31 [[ 9.99376283e-01 3.35891076e-02 1.09003455e-02 2.87091317e+02] [-3.35851344e-02 9.99435710e-01 -5.47397737e-04 -1.20478353e+01] [-1.09125811e-02 1.80966747e-04 9.99940440e-01 -6.30757948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30439141799997 meters 0.015466798111681522 Centerline is valid? [True, True] Translation: X:287.15, Y:-12.04, Z:-6.31 [[ 9.99163638e-01 3.83889732e-02 1.40823030e-02 2.87150341e+02] [-3.83828172e-02 9.99262858e-01 -7.07260920e-04 -1.20432730e+01] [-1.40990734e-02 1.66150932e-04 9.99900589e-01 -6.30571741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36439141799997 meters 0.01574911570795296 Centerline is valid? [True, True] Translation: X:287.21, Y:-12.04, Z:-6.30 [[ 9.99185607e-01 3.66055498e-02 1.69751938e-02 2.87209513e+02] [-3.65963766e-02 9.99329766e-01 -8.50817090e-04 -1.20445063e+01] [-1.69949611e-02 2.28893607e-04 9.99855549e-01 -6.30499023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42439141799997 meters 0.01782027274999815 Centerline is valid? [True, True] Translation: X:287.27, Y:-12.05, Z:-6.31 [[ 9.99408561e-01 2.94561345e-02 1.77444291e-02 2.87268226e+02] [-2.94450127e-02 9.99566007e-01 -8.87766764e-04 -1.20536134e+01] [-1.77628784e-02 3.64756762e-04 9.99842161e-01 -6.30695684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484391418 meters 0.02031703379310757 Centerline is valid? [True, True] Translation: X:287.33, Y:-12.06, Z:-6.31 [[ 9.99544094e-01 2.45813406e-02 1.75317569e-02 2.87327381e+02] [-2.45697579e-02 9.99697734e-01 -8.75790233e-04 -1.20627990e+01] [-1.75479857e-02 4.44639934e-04 9.99845923e-01 -6.30980179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544391418 meters 0.020370470479451987 Centerline is valid? [True, True] Translation: X:287.39, Y:-12.07, Z:-6.31 [[ 9.99628075e-01 2.06429318e-02 1.78208144e-02 2.87387945e+02] [-2.06303391e-02 9.99786776e-01 -8.90200218e-04 -1.20676565e+01] [-1.78353909e-02 5.22219686e-04 9.99840800e-01 -6.31185476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604391418 meters 0.022385543193900244 Centerline is valid? [True, True] Translation: X:287.45, Y:-12.08, Z:-6.31 [[ 9.99604145e-01 2.13786701e-02 1.82894933e-02 2.87448373e+02] [-2.13655389e-02 9.99771314e-01 -9.13088214e-04 -1.20754967e+01] [-1.83048313e-02 5.21961884e-04 9.99832316e-01 -6.31487792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664391418 meters 0.021967708403577986 Centerline is valid? [True, True] Translation: X:287.51, Y:-12.08, Z:-6.32 [[ 9.99557008e-01 2.35505829e-02 1.81977400e-02 2.87509527e+02] [-2.35378535e-02 9.99722529e-01 -9.13402983e-04 -1.20787606e+01] [-1.82142018e-02 4.84662615e-04 9.99833990e-01 -6.31688119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724391418 meters 0.018872186844502835 Centerline is valid? [True, True] Translation: X:287.57, Y:-12.08, Z:-6.32 [[ 9.99408042e-01 2.84145189e-02 1.93953607e-02 2.87571228e+02] [-2.84008623e-02 9.99596134e-01 -9.79259572e-04 -1.20757910e+01] [-1.94153528e-02 4.27834923e-04 9.99811413e-01 -6.31747890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784391418 meters 0.01734071819609244 Centerline is valid? [True, True] Translation: X:287.63, Y:-12.07, Z:-6.32 [[ 9.99239449e-01 3.27758604e-02 2.11250368e-02 2.87631831e+02] [-3.27606124e-02 9.99462657e-01 -1.06756019e-03 -1.20747850e+01] [-2.11486757e-02 3.74679109e-04 9.99776272e-01 -6.31760577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844391418 meters 0.017270510941247767 Centerline is valid? [True, True] Translation: X:287.69, Y:-12.08, Z:-6.32 [[ 9.99212426e-01 3.38807743e-02 2.06548156e-02 2.87691866e+02] [-3.38664336e-02 9.99425823e-01 -1.04379741e-03 -1.20774917e+01] [-2.06783208e-02 3.43470404e-04 9.99786122e-01 -6.31941964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904391418 meters 0.016593448524541334 Centerline is valid? [True, True] Translation: X:287.75, Y:-12.08, Z:-6.32 [[ 9.99204825e-01 3.47274932e-02 1.95887329e-02 2.87751896e+02] [-3.47147565e-02 9.99396771e-01 -9.89972064e-04 -1.20801720e+01] [-1.96112957e-02 3.09166768e-04 9.99807632e-01 -6.32298911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964391418 meters 0.016872604982045732 Centerline is valid? [True, True] Translation: X:287.81, Y:-12.09, Z:-6.33 [[ 9.99276498e-01 3.31365593e-02 1.86667676e-02 2.87811630e+02] [-3.31247214e-02 9.99450781e-01 -9.43089004e-04 -1.20852849e+01] [-1.86877662e-02 3.24075201e-04 9.99825316e-01 -6.32535331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024391418 meters 0.018098994073836458 Centerline is valid? [True, True] Translation: X:287.87, Y:-12.09, Z:-6.33 [[ 9.99319652e-01 3.16677809e-02 1.89046324e-02 2.87870219e+02] [-3.16553904e-02 9.99498387e-01 -9.54379371e-04 -1.20930005e+01] [-1.89253727e-02 3.55296541e-04 9.99820836e-01 -6.32760259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084391418 meters 0.017136029623647415 Centerline is valid? [True, True] Translation: X:287.93, Y:-12.10, Z:-6.33 [[ 9.99232230e-01 3.36577756e-02 2.00525536e-02 2.87930225e+02] [-3.36442618e-02 9.99433360e-01 -1.01099704e-03 -1.20956788e+01] [-2.00752190e-02 3.35567461e-04 9.99798416e-01 -6.32786827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14439141799994 meters 0.016353854894098938 Centerline is valid? [True, True] Translation: X:287.99, Y:-12.10, Z:-6.33 [[ 9.99076375e-01 3.74168074e-02 2.11276914e-02 2.87989152e+02] [-3.74026638e-02 9.99299709e-01 -1.06433408e-03 -1.20972294e+01] [-2.11527199e-02 2.73119094e-04 9.99776219e-01 -6.32788293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20439141799994 meters 0.014687001632831263 Centerline is valid? [True, True] Translation: X:288.05, Y:-12.10, Z:-6.33 [[ 9.98719459e-01 4.46898028e-02 2.37120824e-02 2.88048596e+02] [-4.46740714e-02 9.99000903e-01 -1.19301503e-03 -1.20962783e+01] [-2.37417073e-02 1.32172065e-04 9.99718117e-01 -6.32729610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26439141799995 meters 0.014399459057813598 Centerline is valid? [True, True] Translation: X:288.11, Y:-12.10, Z:-6.33 [[ 9.98543141e-01 4.84299728e-02 2.37935381e-02 2.88107503e+02] [-4.84152190e-02 9.98826580e-01 -1.19608873e-03 -1.21000073e+01] [-2.38235448e-02 4.23768385e-05 9.99716178e-01 -6.32937265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32439141799995 meters 0.01456392345719208 Centerline is valid? [True, True] Translation: X:288.17, Y:-12.11, Z:-6.33 [[ 9.98683198e-01 4.64648705e-02 2.17459266e-02 2.88166300e+02] [-4.64521167e-02 9.98919921e-01 -1.09153202e-03 -1.21089914e+01] [-2.17731572e-02 7.99503736e-05 9.99762934e-01 -6.33288174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38439141799995 meters 0.015496936465220157 Centerline is valid? [True, True] Translation: X:288.23, Y:-12.12, Z:-6.34 [[ 9.99029008e-01 3.97580376e-02 1.89825994e-02 2.88225289e+02] [-3.97471356e-02 9.99209317e-01 -9.51403458e-04 -1.21224620e+01] [-1.90054161e-02 1.95975701e-04 9.99819362e-01 -6.33644830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44439141799995 meters 0.016930245511561207 Centerline is valid? [True, True] Translation: X:288.28, Y:-12.13, Z:-6.34 [[ 9.99263940e-01 3.40696365e-02 1.76305860e-02 2.88284314e+02] [-3.40593586e-02 9.99419422e-01 -8.82989189e-04 -1.21337458e+01] [-1.76504332e-02 2.81852805e-04 9.99844179e-01 -6.33920742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50439141799995 meters 0.019098934454637163 Centerline is valid? [True, True] Translation: X:288.34, Y:-12.15, Z:-6.34 [[ 9.99475972e-01 2.76009128e-02 1.69106533e-02 2.88344397e+02] [-2.75905459e-02 9.99618950e-01 -8.46082634e-04 -1.21466350e+01] [-1.69275622e-02 3.79065107e-04 9.99856647e-01 -6.34070355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56439141799996 meters 0.01956970345617139 Centerline is valid? [True, True] Translation: X:288.41, Y:-12.15, Z:-6.34 [[ 9.99503084e-01 2.61206928e-02 1.76435115e-02 2.88405281e+02] [-2.61091804e-02 9.99658708e-01 -8.82571572e-04 -1.21534357e+01] [-1.76605433e-02 4.21475384e-04 9.99843952e-01 -6.34109005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62439141799996 meters 0.020308190891524348 Centerline is valid? [True, True] Translation: X:288.47, Y:-12.16, Z:-6.34 [[ 9.99436979e-01 2.75719538e-02 1.91183571e-02 2.88465754e+02] [-2.75586917e-02 9.99619729e-01 -9.56850370e-04 -1.21616820e+01] [-1.91374692e-02 4.29434735e-04 9.99816770e-01 -6.34054860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68439141799996 meters 0.019239218996192815 Centerline is valid? [True, True] Translation: X:288.53, Y:-12.17, Z:-6.34 [[ 9.99388743e-01 2.92727057e-02 1.91115101e-02 2.88528070e+02] [-2.92597116e-02 9.99571383e-01 -9.59241157e-04 -1.21667774e+01] [-1.91313982e-02 3.99457540e-04 9.99816898e-01 -6.34184483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74439141799996 meters 0.019863426821814693 Centerline is valid? [True, True] Translation: X:288.59, Y:-12.17, Z:-6.34 [[ 9.99438819e-01 2.82347586e-02 1.80234651e-02 2.88589105e+02] [-2.82229336e-02 9.99601239e-01 -9.10159657e-04 -1.21747264e+01] [-1.80419762e-02 4.00973835e-04 9.99837150e-01 -6.34397850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80439141799997 meters 0.01936693954568219 Centerline is valid? [True, True] Translation: X:288.65, Y:-12.18, Z:-6.35 [[ 9.99494515e-01 2.70050973e-02 1.67761691e-02 2.88649947e+02] [-2.69946697e-02 9.99635218e-01 -8.47751611e-04 -1.21789590e+01] [-1.67929430e-02 3.94455943e-04 9.99858911e-01 -6.34558258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86439141799997 meters 0.019304719642430492 Centerline is valid? [True, True] Translation: X:288.71, Y:-12.19, Z:-6.35 [[ 9.99517038e-01 2.64178371e-02 1.63642198e-02 2.88710752e+02] [-2.64078263e-02 9.99650910e-01 -8.27571523e-04 -1.21850763e+01] [-1.63803698e-02 3.95028365e-04 9.99865755e-01 -6.34716105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92439141799997 meters 0.01874863721857798 Centerline is valid? [True, True] Translation: X:288.77, Y:-12.19, Z:-6.35 [[ 9.99468622e-01 2.90193541e-02 1.48442299e-02 2.88771126e+02] [-2.90113935e-02 9.99578799e-01 -7.51378018e-04 -1.21873603e+01] [-1.48597820e-02 3.20326957e-04 9.99889536e-01 -6.34939047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984391418 meters 0.01772897356848541 Centerline is valid? [True, True] Translation: X:288.83, Y:-12.19, Z:-6.35 [[ 9.99382334e-01 3.23737323e-02 1.36708785e-02 2.88831541e+02] [-3.23672886e-02 9.99475802e-01 -6.92394696e-04 -1.21876233e+01] [-1.36861277e-02 2.49477756e-04 9.99906309e-01 -6.35189458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044391418 meters 0.016043062967311165 Centerline is valid? [True, True] Translation: X:288.89, Y:-12.19, Z:-6.35 [[ 9.99226080e-01 3.74066238e-02 1.21649199e-02 2.88891615e+02] [-3.74018896e-02 9.99300114e-01 -6.16517145e-04 -1.21863489e+01] [-1.21794677e-02 1.61049018e-04 9.99925815e-01 -6.35379819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104391418 meters 0.015213256975606963 Centerline is valid? [True, True] Translation: X:288.95, Y:-12.19, Z:-6.35 [[ 9.99084616e-01 4.08897742e-02 1.25680899e-02 2.88950544e+02] [-4.08849984e-02 9.99163656e-01 -6.36800933e-04 -1.21863487e+01] [-1.25836173e-02 1.22371680e-04 9.99920816e-01 -6.35371915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164391418 meters 0.015097313192714486 Centerline is valid? [True, True] Translation: X:289.01, Y:-12.19, Z:-6.35 [[ 9.99070940e-01 4.11196236e-02 1.29008821e-02 2.89009589e+02] [-4.11146245e-02 9.99154223e-01 -6.52587535e-04 -1.21891713e+01] [-1.29168050e-02 1.21566319e-04 9.99916567e-01 -6.35421449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224391418 meters 0.01585143550273516 Centerline is valid? [True, True] Translation: X:289.07, Y:-12.20, Z:-6.36 [[ 9.99129079e-01 3.91135434e-02 1.45332146e-02 2.89067498e+02] [-3.91070047e-02 9.99234759e-01 -7.33939755e-04 -1.21969590e+01] [-1.45508002e-02 1.64950061e-04 9.99894118e-01 -6.35547131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284391418 meters 0.016850327734360997 Centerline is valid? [True, True] Translation: X:289.13, Y:-12.21, Z:-6.36 [[ 9.99214340e-01 3.62369885e-02 1.60494357e-02 2.89125450e+02] [-3.62286808e-02 9.99343199e-01 -8.08170952e-04 -1.22053930e+01] [-1.60681801e-02 2.26086122e-04 9.99870873e-01 -6.35587228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344391418 meters 0.01659190970043385 Centerline is valid? [True, True] Translation: X:289.18, Y:-12.21, Z:-6.36 [[ 9.99272054e-01 3.48321650e-02 1.55590263e-02 2.89184488e+02] [-3.48241998e-02 9.99393147e-01 -7.82653184e-04 -1.22094334e+01] [-1.55768457e-02 2.40252814e-04 9.99878645e-01 -6.35648717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404391418 meters 0.01682305053951918 Centerline is valid? [True, True] Translation: X:289.24, Y:-12.22, Z:-6.36 [[ 9.99315881e-01 3.35189281e-02 1.56285665e-02 2.89244029e+02] [-3.35107476e-02 9.99438049e-01 -7.85092578e-04 -1.22154161e+01] [-1.56460995e-02 2.60830533e-04 9.99877558e-01 -6.35716731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464391418 meters 0.01811825011506743 Centerline is valid? [True, True] Translation: X:289.30, Y:-12.22, Z:-6.36 [[ 9.99362610e-01 3.25716499e-02 1.46103427e-02 2.89303463e+02] [-3.25644096e-02 9.99469370e-01 -7.33254646e-04 -1.22246542e+01] [-1.46264733e-02 2.57010094e-04 9.99892994e-01 -6.35974988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524391418 meters 0.017653182131895866 Centerline is valid? [True, True] Translation: X:289.36, Y:-12.23, Z:-6.36 [[ 9.99419447e-01 3.15646869e-02 1.28233671e-02 2.89362848e+02] [-3.15590268e-02 9.99501683e-01 -6.43554111e-04 -1.22295723e+01] [-1.28372906e-02 2.38487506e-04 9.99917570e-01 -6.36168096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58439141799994 meters 0.017768308341819083 Centerline is valid? [True, True] Translation: X:289.42, Y:-12.24, Z:-6.36 [[ 9.99449971e-01 3.08704411e-02 1.21149062e-02 2.89422430e+02] [-3.08653434e-02 9.99523367e-01 -6.07564700e-04 -1.22351601e+01] [-1.21278877e-02 2.33299780e-04 9.99926427e-01 -6.36328909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64439141799994 meters 0.01986647223673263 Centerline is valid? [True, True] Translation: X:289.48, Y:-12.24, Z:-6.37 [[ 9.99461038e-01 3.06538747e-02 1.17462417e-02 2.89480968e+02] [-3.06490706e-02 9.99530033e-01 -5.88825757e-04 -1.22446788e+01] [-1.17587712e-02 2.28497010e-04 9.99930837e-01 -6.36611811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70439141799994 meters 0.018795263020650686 Centerline is valid? [True, True] Translation: X:289.54, Y:-12.25, Z:-6.37 [[ 9.99467989e-01 3.05829760e-02 1.13323078e-02 2.89541024e+02] [-3.05785097e-02 9.99532207e-01 -5.67218177e-04 -1.22472513e+01] [-1.13443539e-02 2.20391326e-04 9.99935626e-01 -6.36662005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76439141799995 meters 0.018113727002443673 Centerline is valid? [True, True] Translation: X:289.60, Y:-12.25, Z:-6.37 [[ 9.99477112e-01 3.02135579e-02 1.15170876e-02 2.89600972e+02] [-3.02089253e-02 9.99543440e-01 -5.76029964e-04 -1.22513815e+01] [-1.15292333e-02 2.27809925e-04 9.99933510e-01 -6.36646862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82439141799995 meters 0.018105090274258853 Centerline is valid? [True, True] Translation: X:289.66, Y:-12.26, Z:-6.37 [[ 9.99512429e-01 2.87836120e-02 1.20998926e-02 2.89660435e+02] [-2.87784002e-02 9.99585633e-01 -6.04659404e-04 -1.22581922e+01] [-1.21122831e-02 2.56149037e-04 9.99926611e-01 -6.36655954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88439141799995 meters 0.019239343684754513 Centerline is valid? [True, True] Translation: X:289.72, Y:-12.27, Z:-6.37 [[ 9.99561056e-01 2.71676122e-02 1.18159400e-02 2.89719091e+02] [-2.71625349e-02 9.99630856e-01 -5.90001536e-04 -1.22665855e+01] [-1.18276072e-02 2.68791676e-04 9.99930015e-01 -6.36834960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94439141799995 meters 0.019686746189452847 Centerline is valid? [True, True] Translation: X:289.78, Y:-12.27, Z:-6.37 [[ 9.99591727e-01 2.67137135e-02 1.01369233e-02 2.89778973e+02] [-2.67099610e-02 9.99643098e-01 -5.05407093e-04 -1.22717002e+01] [-1.01468067e-02 2.34443922e-04 9.99948492e-01 -6.37073298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00439141799995 meters 0.01950369196601405 Centerline is valid? [True, True] Translation: X:289.84, Y:-12.28, Z:-6.37 [[ 9.99583497e-01 2.77134413e-02 8.04969259e-03 2.89838073e+02] [-2.77111031e-02 9.99615893e-01 -4.01885893e-04 -1.22757692e+01] [-8.05773829e-03 1.78652645e-04 9.99967520e-01 -6.37248440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06439141799996 meters 0.01839750414234643 Centerline is valid? [True, True] Translation: X:289.90, Y:-12.28, Z:-6.37 [[ 9.99523626e-01 2.97439234e-02 8.23527757e-03 2.89897339e+02] [-2.97415455e-02 9.99557538e-01 -4.11090947e-04 -1.22771040e+01] [-8.24386123e-03 1.65965231e-04 9.99966005e-01 -6.37246248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12439141799996 meters 0.016999630362880044 Centerline is valid? [True, True] Translation: X:289.95, Y:-12.28, Z:-6.37 [[ 9.99395661e-01 3.38370487e-02 7.96029946e-03 2.89954892e+02] [-3.38349559e-02 9.99427355e-01 -3.97467951e-04 -1.22789443e+01] [-7.96919018e-03 1.27891365e-04 9.99968237e-01 -6.37292882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18439141799996 meters 0.01612315453344674 Centerline is valid? [True, True] Translation: X:290.01, Y:-12.28, Z:-6.37 [[ 9.99331295e-01 3.59336741e-02 6.76272691e-03 2.90013229e+02] [-3.59322157e-02 9.99354173e-01 -3.37074107e-04 -1.22805848e+01] [-6.77047166e-03 9.38489422e-05 9.99977076e-01 -6.37364224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24439141799996 meters 0.017010502310395897 Centerline is valid? [True, True] Translation: X:290.07, Y:-12.29, Z:-6.38 [[ 9.99438597e-01 3.31249868e-02 5.02249256e-03 2.90071584e+02] [-3.31241467e-02 9.99451214e-01 -2.50394114e-04 -1.22876038e+01] [-5.02803059e-03 8.38877615e-05 9.99987356e-01 -6.37514570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30439141799997 meters 0.018257828984903288 Centerline is valid? [True, True] Translation: X:290.13, Y:-12.29, Z:-6.38 [[ 9.99560470e-01 2.92562326e-02 4.78959266e-03 2.90130405e+02] [-2.92554276e-02 9.99571940e-01 -2.38060380e-04 -1.22949377e+01] [-4.79450718e-03 9.78341641e-05 9.99988501e-01 -6.37602605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36439141799997 meters 0.021183312875872204 Centerline is valid? [True, True] Translation: X:290.19, Y:-12.31, Z:-6.38 [[ 9.99736570e-01 2.22564050e-02 5.60744125e-03 2.90189380e+02] [-2.22551942e-02 9.99752284e-01 -2.78240022e-04 -1.23055633e+01] [-5.61224482e-03 1.53372031e-04 9.99984239e-01 -6.37548451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42439141799997 meters 0.02488597827412266 Centerline is valid? [True, True] Translation: X:290.25, Y:-12.32, Z:-6.38 [[ 9.99854572e-01 1.58227039e-02 6.36212220e-03 2.90248274e+02] [-1.58210238e-02 9.99874790e-01 -3.14328214e-04 -1.23171156e+01] [-6.36629913e-03 2.13627215e-04 9.99979712e-01 -6.37596511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484391418 meters 0.027182709919448586 Centerline is valid? [True, True] Translation: X:290.31, Y:-12.32, Z:-6.38 [[ 9.99910809e-01 1.15963986e-02 6.62559825e-03 2.90308968e+02] [-1.15944869e-02 9.99932728e-01 -3.26875345e-04 -1.23245822e+01] [-6.62894311e-03 2.50025778e-04 9.99977997e-01 -6.37724260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544391418 meters 0.03038228196120996 Centerline is valid? [True, True] Translation: X:290.37, Y:-12.33, Z:-6.38 [[ 9.99956280e-01 7.59398072e-03 5.45610179e-03 2.90370062e+02] [-7.59262636e-03 9.99971139e-01 -2.68898205e-04 -1.23321173e+01] [-5.45798633e-03 2.27460307e-04 9.99985079e-01 -6.37998019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604391418 meters 0.030761949799607027 Centerline is valid? [True, True] Translation: X:290.43, Y:-12.33, Z:-6.38 [[ 9.99973650e-01 5.18100960e-03 5.08498327e-03 2.90431717e+02] [-5.17981994e-03 9.99986554e-01 -2.47098286e-04 -1.23348873e+01] [-5.08619511e-03 2.20752477e-04 9.99987041e-01 -6.38069749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664391418 meters 0.03399494056346606 Centerline is valid? [True, True] Translation: X:290.49, Y:-12.34, Z:-6.38 [[ 9.99984798e-01 1.82956137e-03 5.20152208e-03 2.90491151e+02] [-1.82824162e-03 9.99998295e-01 -2.58468305e-04 -1.23404060e+01] [-5.20198610e-03 2.48954736e-04 9.99986439e-01 -6.38153632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724391418 meters 0.031920140177450686 Centerline is valid? [True, True] Translation: X:290.55, Y:-12.34, Z:-6.38 [[ 9.99989437e-01 -6.47684157e-04 4.55046952e-03 2.90552517e+02] [ 6.48716583e-04 9.99999764e-01 -2.25411178e-04 -1.23385614e+01] [-4.55032245e-03 2.28360762e-04 9.99989621e-01 -6.38086357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784391418 meters 0.03550099920565487 Centerline is valid? [True, True] Translation: X:290.61, Y:-12.34, Z:-6.38 [[ 9.99980585e-01 -5.27457828e-03 3.31794905e-03 2.90612870e+02] [ 5.27515436e-03 9.99986073e-01 -1.64896710e-04 -1.23427097e+01] [-3.31703308e-03 1.82396202e-04 9.99994482e-01 -6.38308507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844391418 meters 0.0364116112809393 Centerline is valid? [True, True] Translation: X:290.67, Y:-12.34, Z:-6.38 [[ 9.99956050e-01 -8.77686982e-03 3.29611183e-03 2.90673427e+02] [ 8.77745647e-03 9.99961464e-01 -1.63559507e-04 -1.23448996e+01] [-3.29454927e-03 1.92483797e-04 9.99994554e-01 -6.38395232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904391418 meters 0.03819286456881193 Centerline is valid? [True, True] Translation: X:290.73, Y:-12.35, Z:-6.38 [[ 9.99893565e-01 -1.42307689e-02 3.21611682e-03 2.90734363e+02] [ 1.42313567e-02 9.99898716e-01 -1.59959238e-04 -1.23456563e+01] [-3.21351474e-03 2.05711918e-04 9.99994815e-01 -6.38450926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964391418 meters 0.04184856187838887 Centerline is valid? [True, True] Translation: X:290.79, Y:-12.35, Z:-6.39 [[ 9.99841384e-01 -1.74364340e-02 3.62996842e-03 2.90794012e+02] [ 1.74372042e-02 9.99847944e-01 -1.80630674e-04 -1.23488516e+01] [-3.62626691e-03 2.43898523e-04 9.99993395e-01 -6.38583014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024391418 meters 0.04250773016105596 Centerline is valid? [True, True] Translation: X:290.86, Y:-12.35, Z:-6.39 [[ 9.99842674e-01 -1.69498978e-02 5.22757147e-03 2.90856337e+02] [ 1.69514815e-02 9.99856280e-01 -2.58781387e-04 -1.23471906e+01] [-5.22243385e-03 3.47355755e-04 9.99986303e-01 -6.38600258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08439141799994 meters 0.03722860881859851 Centerline is valid? [True, True] Translation: X:290.92, Y:-12.34, Z:-6.38 [[ 9.99888930e-01 -1.34788005e-02 6.36005170e-03 2.90917793e+02] [ 1.34810857e-02 9.99909076e-01 -3.16568452e-04 -1.23388548e+01] [-6.35520645e-03 4.02273692e-04 9.99979725e-01 -6.38472337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14439141799994 meters 0.03523094100484698 Centerline is valid? [True, True] Translation: X:290.98, Y:-12.33, Z:-6.39 [[ 9.99964782e-01 -3.76997540e-03 7.49815487e-03 2.90977880e+02] [ 3.77288607e-03 9.99992813e-01 -3.74077680e-04 -1.23325030e+01] [-7.49669071e-03 4.02354190e-04 9.99971818e-01 -6.38613383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20439141799994 meters 0.027961381834711942 Centerline is valid? [True, True] Translation: X:291.04, Y:-12.32, Z:-6.39 [[ 9.99931732e-01 8.61718642e-03 7.89143653e-03 2.91039191e+02] [-8.61434976e-03 9.99962818e-01 -3.93381485e-04 -1.23186748e+01] [-7.89453296e-03 3.25375035e-04 9.99968785e-01 -6.38708181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26439141799995 meters 0.02155098473650765 Centerline is valid? [True, True] Translation: X:291.10, Y:-12.31, Z:-6.39 [[ 9.99789608e-01 1.91212574e-02 7.42410976e-03 2.91100735e+02] [-1.91190374e-02 9.99817146e-01 -3.69889317e-04 -1.23074379e+01] [-7.42982498e-03 2.27869663e-04 9.99972373e-01 -6.38826577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32439141799995 meters 0.020253852337822974 Centerline is valid? [True, True] Translation: X:291.16, Y:-12.31, Z:-6.39 [[ 9.99690873e-01 2.36973563e-02 7.52292485e-03 2.91159657e+02] [-2.36951964e-02 9.99719159e-01 -3.76124655e-04 -1.23061026e+01] [-7.52972527e-03 1.97751202e-04 9.99971632e-01 -6.39076055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38439141799995 meters 0.018833784987019795 Centerline is valid? [True, True] Translation: X:291.22, Y:-12.30, Z:-6.39 [[ 9.99608122e-01 2.69916038e-02 7.41989149e-03 2.91219124e+02] [-2.69895966e-02 9.99635646e-01 -3.70535932e-04 -1.23037379e+01] [-7.42718938e-03 1.70130850e-04 9.99972404e-01 -6.39318103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44439141799995 meters 0.018425540860761314 Centerline is valid? [True, True] Translation: X:291.28, Y:-12.30, Z:-6.39 [[ 9.99608098e-01 2.69292087e-02 7.64648694e-03 2.91277493e+02] [-2.69270766e-02 9.99637328e-01 -3.81661984e-04 -1.23048508e+01] [-7.65399163e-03 1.75614870e-04 9.99970692e-01 -6.39468038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50439141799995 meters 0.018833982049084905 Centerline is valid? [True, True] Translation: X:291.34, Y:-12.31, Z:-6.39 [[ 9.99679611e-01 2.37714243e-02 8.69455385e-03 2.91336586e+02] [-2.37685585e-02 9.99717394e-01 -4.32802920e-04 -1.23077512e+01] [-8.70238506e-03 2.26007243e-04 9.99962108e-01 -6.39439206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56439141799996 meters 0.022903385495056976 Centerline is valid? [True, True] Translation: X:291.40, Y:-12.32, Z:-6.40 [[ 9.99761413e-01 1.93694030e-02 1.00967418e-02 2.91395087e+02] [-1.93653227e-02 9.99812349e-01 -5.01743368e-04 -1.23168327e+01] [-1.01045656e-02 3.06096995e-04 9.99948901e-01 -6.39595706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62439141799996 meters 0.023094621735616817 Centerline is valid? [True, True] Translation: X:291.46, Y:-12.32, Z:-6.39 [[ 9.99821619e-01 1.48591763e-02 1.16591540e-02 2.91455057e+02] [-1.48534446e-02 9.99889514e-01 -5.78049959e-04 -1.23204273e+01] [-1.16664551e-02 4.04768248e-04 9.99931863e-01 -6.39483360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68439141799996 meters 0.024153220702718827 Centerline is valid? [True, True] Translation: X:291.52, Y:-12.33, Z:-6.40 [[ 9.99836778e-01 1.34650894e-02 1.20461148e-02 2.91516642e+02] [-1.34589070e-02 9.99909248e-01 -5.94154903e-04 -1.23250604e+01] [-1.20530220e-02 4.31930385e-04 9.99927266e-01 -6.39628065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74439141799996 meters 0.027293520736909993 Centerline is valid? [True, True] Translation: X:291.58, Y:-12.33, Z:-6.40 [[ 9.99897647e-01 8.56925911e-03 1.14570521e-02 2.91577791e+02] [-8.56328742e-03 9.99963172e-01 -5.70180087e-04 -1.23337513e+01] [-1.14615162e-02 4.72011697e-04 9.99934203e-01 -6.39844975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80439141799997 meters 0.028090602381104238 Centerline is valid? [True, True] Translation: X:291.64, Y:-12.34, Z:-6.40 [[ 9.99917490e-01 6.09040661e-03 1.13101838e-02 2.91639874e+02] [-6.08442878e-03 9.99981331e-01 -5.62869390e-04 -1.23381625e+01] [-1.13134007e-02 4.94006940e-04 9.99935879e-01 -6.39984913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86439141799997 meters 0.02991910419902941 Centerline is valid? [True, True] Translation: X:291.70, Y:-12.34, Z:-6.40 [[ 9.99932691e-01 4.74195440e-03 1.05890273e-02 2.91700386e+02] [-4.73662632e-03 9.99988643e-01 -5.28191983e-04 -1.23429641e+01] [-1.05914117e-02 4.78000166e-04 9.99943795e-01 -6.40189876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92439141799997 meters 0.029901106613889502 Centerline is valid? [True, True] Translation: X:291.76, Y:-12.35, Z:-6.40 [[ 9.99936619e-01 6.23827339e-03 9.37245380e-03 2.91762564e+02] [-6.23418994e-03 9.99980459e-01 -4.64838184e-04 -1.23454518e+01] [-9.37517044e-03 4.06379064e-04 9.99955970e-01 -6.40428618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984391418 meters 0.028893943681781786 Centerline is valid? [True, True] Translation: X:291.82, Y:-12.35, Z:-6.41 [[ 9.99911766e-01 9.78848164e-03 8.98031075e-03 2.91823260e+02] [-9.78482852e-03 9.99952026e-01 -4.50639679e-04 -1.23456504e+01] [-8.98429101e-03 3.62729116e-04 9.99959575e-01 -6.40634850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044391418 meters 0.02287526746653346 Centerline is valid? [True, True] Translation: X:291.88, Y:-12.34, Z:-6.41 [[ 9.99773744e-01 1.88153382e-02 9.92192551e-03 2.91884504e+02] [-1.88113134e-02 9.99822927e-01 -4.98819060e-04 -1.23370826e+01] [-9.92955406e-03 3.12061748e-04 9.99950652e-01 -6.40686293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104391418 meters 0.020009860778506718 Centerline is valid? [True, True] Translation: X:291.94, Y:-12.33, Z:-6.41 [[ 9.99617774e-01 2.58145500e-02 9.89516026e-03 2.91944313e+02] [-2.58108984e-02 9.99666720e-01 -4.96570207e-04 -1.23337210e+01] [-9.90468114e-03 2.40977428e-04 9.99950918e-01 -6.40835368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164391418 meters 0.015442458318537813 Centerline is valid? [True, True] Translation: X:292.01, Y:-12.33, Z:-6.41 [[ 9.99361014e-01 3.44245172e-02 9.61855390e-03 2.92005035e+02] [-3.44214474e-02 9.99407289e-01 -4.84566941e-04 -1.23262379e+01] [-9.62953386e-03 1.53172762e-04 9.99953623e-01 -6.40819310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224391418 meters 0.014696780394652753 Centerline is valid? [True, True] Translation: X:292.06, Y:-12.33, Z:-6.41 [[ 9.99192448e-01 3.89966180e-02 9.68063335e-03 2.92063428e+02] [-3.89937177e-02 9.99239337e-01 -4.88232381e-04 -1.23261338e+01] [-9.69230906e-03 1.10354224e-04 9.99953022e-01 -6.41074233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284391418 meters 0.014890185827596698 Centerline is valid? [True, True] Translation: X:292.12, Y:-12.33, Z:-6.41 [[ 9.99167215e-01 3.95449923e-02 1.00533538e-02 2.92120830e+02] [-3.95418990e-02 9.99217785e-01 -5.06351744e-04 -1.23292464e+01] [-1.00655136e-02 1.08401363e-04 9.99949336e-01 -6.41296938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344391418 meters 0.015190763552353222 Centerline is valid? [True, True] Translation: X:292.18, Y:-12.33, Z:-6.41 [[ 9.99263094e-01 3.70265973e-02 1.01143444e-02 2.92179019e+02] [-3.70233494e-02 9.99314272e-01 -5.08230777e-04 -1.23339878e+01] [-1.01262268e-02 1.33389352e-04 9.99948720e-01 -6.41398686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404391418 meters 0.01645749224739518 Centerline is valid? [True, True] Translation: X:292.24, Y:-12.34, Z:-6.42 [[ 9.99403792e-01 3.30478552e-02 9.99498140e-03 2.92237368e+02] [-3.30444925e-02 9.99453756e-01 -5.01442601e-04 -1.23407191e+01] [-1.00060933e-02 1.70864549e-04 9.99949923e-01 -6.41589657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464391418 meters 0.01997514751668776 Centerline is valid? [True, True] Translation: X:292.30, Y:-12.35, Z:-6.42 [[ 9.99630434e-01 2.48668063e-02 1.09835330e-02 2.92295936e+02] [-2.48622652e-02 9.99690735e-01 -5.49818439e-04 -1.23516399e+01] [-1.09938084e-02 2.76539735e-04 9.99939528e-01 -6.41643177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524391418 meters 0.022882090358984607 Centerline is valid? [True, True] Translation: X:292.36, Y:-12.36, Z:-6.42 [[ 9.99755773e-01 1.83157869e-02 1.23663693e-02 2.92355478e+02] [-1.83095466e-02 9.99832175e-01 -6.17655321e-04 -1.23604198e+01] [-1.23756068e-02 3.91081857e-04 9.99923343e-01 -6.41654349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58439141799994 meters 0.027274121678600213 Centerline is valid? [True, True] Translation: X:292.42, Y:-12.37, Z:-6.42 [[ 9.99863827e-01 8.50599745e-03 1.41412392e-02 2.92415132e+02] [-8.49686243e-03 9.99963652e-01 -7.05940973e-04 -1.23712702e+01] [-1.41467300e-02 5.85688679e-04 9.99899758e-01 -6.41656649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64439141799994 meters 0.033686300709906414 Centerline is valid? [True, True] Translation: X:292.47, Y:-12.38, Z:-6.42 [[ 9.99876803e-01 -1.00400975e-03 1.56643195e-02 2.92474978e+02] [ 1.01637560e-03 9.99999178e-01 -7.81486409e-04 -1.23839256e+01] [-1.56635220e-02 7.97310964e-04 9.99877002e-01 -6.41816041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70439141799994 meters 0.03644176835630948 Centerline is valid? [True, True] Translation: X:292.54, Y:-12.39, Z:-6.42 [[ 9.99847647e-01 -6.75765463e-03 1.60939840e-02 2.92535275e+02] [ 6.77145544e-03 9.99976751e-01 -8.03174242e-04 -1.23902887e+01] [-1.60881822e-02 9.12031572e-04 9.99870161e-01 -6.41972396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76439141799995 meters 0.03714976938204168 Centerline is valid? [True, True] Translation: X:292.60, Y:-12.39, Z:-6.42 [[ 9.99793250e-01 -1.20928360e-02 1.63468638e-02 2.92596181e+02] [ 1.21077855e-02 9.99926365e-01 -8.15853433e-04 -1.23925039e+01] [-1.63357941e-02 1.01360908e-03 9.99866048e-01 -6.42122478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82439141799995 meters 0.040010427035062135 Centerline is valid? [True, True] Translation: X:292.66, Y:-12.40, Z:-6.42 [[ 9.99779780e-01 -1.27549864e-02 1.66643864e-02 2.92657254e+02] [ 1.27706019e-02 9.99918107e-01 -8.30978048e-04 -1.23962533e+01] [-1.66524226e-02 1.04360929e-03 9.99860794e-01 -6.42324934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88439141799995 meters 0.039761784601466205 Centerline is valid? [True, True] Translation: X:292.72, Y:-12.39, Z:-6.43 [[ 9.99799270e-01 -1.08273704e-02 1.68578575e-02 2.92718868e+02] [ 1.08431308e-02 9.99940856e-01 -8.43777978e-04 -1.23938169e+01] [-1.68477246e-02 1.02640056e-03 9.99857540e-01 -6.42552176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94439141799995 meters 0.03706210421967893 Centerline is valid? [True, True] Translation: X:292.78, Y:-12.39, Z:-6.43 [[ 9.99825420e-01 -8.09390998e-03 1.68409410e-02 2.92780522e+02] [ 8.10926369e-03 9.99966764e-01 -8.43599479e-04 -1.23894980e+01] [-1.68335533e-02 9.80019835e-04 9.99857825e-01 -6.42757230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00439141799995 meters 0.03491215247051958 Centerline is valid? [True, True] Translation: X:292.84, Y:-12.38, Z:-6.43 [[ 9.99855519e-01 -2.24693484e-03 1.68490853e-02 2.92841921e+02] [ 2.26149095e-03 9.99997086e-01 -8.44907259e-04 -1.23834625e+01] [-1.68471377e-02 8.82889240e-04 9.99857687e-01 -6.43003995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06439141799996 meters 0.03036924545964042 Centerline is valid? [True, True] Translation: X:292.90, Y:-12.37, Z:-6.43 [[ 9.99823512e-01 6.40794835e-03 1.76602192e-02 2.92903206e+02] [-6.39330438e-03 9.99979171e-01 -8.85540237e-04 -1.23732483e+01] [-1.76655258e-02 7.72476792e-04 9.99843654e-01 -6.43085693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12439141799996 meters 0.02535757132416408 Centerline is valid? [True, True] Translation: X:292.96, Y:-12.36, Z:-6.43 [[ 9.99719247e-01 1.38383949e-02 1.92334848e-02 2.92963950e+02] [-1.38223987e-02 9.99904001e-01 -9.64385627e-04 -1.23642383e+01] [-1.92449840e-02 6.98261977e-04 9.99814554e-01 -6.43138002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18439141799996 meters 0.019298207260938345 Centerline is valid? [True, True] Translation: X:293.03, Y:-12.35, Z:-6.43 [[ 9.99454927e-01 2.56453798e-02 2.07885377e-02 2.93025215e+02] [-2.56292407e-02 9.99670974e-01 -1.04244467e-03 -1.23506655e+01] [-2.08084316e-02 5.09082024e-04 9.99783352e-01 -6.43227121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24439141799996 meters 0.015665950707267992 Centerline is valid? [True, True] Translation: X:293.09, Y:-12.34, Z:-6.43 [[ 9.99083085e-01 3.63187023e-02 2.26702517e-02 2.93085086e+02] [-3.63022544e-02 9.99340209e-01 -1.13678703e-03 -1.23404805e+01] [-2.26965807e-02 3.12763452e-04 9.99742351e-01 -6.43323889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30439141799997 meters 0.014843030956181167 Centerline is valid? [True, True] Translation: X:293.14, Y:-12.34, Z:-6.43 [[ 9.98862512e-01 4.16542387e-02 2.32079089e-02 2.93143752e+02] [-4.16384525e-02 9.99132066e-01 -1.16323789e-03 -1.23371405e+01] [-2.32362198e-02 1.95573302e-04 9.99729983e-01 -6.43453813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36439141799997 meters 0.013848204664744422 Centerline is valid? [True, True] Translation: X:293.20, Y:-12.33, Z:-6.44 [[ 9.98612021e-01 4.68809400e-02 2.40043448e-02 2.93203222e+02] [-4.68655962e-02 9.98900481e-01 -1.20168853e-03 -1.23316914e+01] [-2.40342878e-02 7.50426862e-05 9.99711132e-01 -6.43732172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42439141799997 meters 0.013879855697588508 Centerline is valid? [True, True] Translation: X:293.26, Y:-12.33, Z:-6.44 [[ 9.98475265e-01 4.94863360e-02 2.44591019e-02 2.93262315e+02] [-4.94712361e-02 9.98774801e-01 -1.22243917e-03 -1.23313024e+01] [-2.44896286e-02 1.05532696e-05 9.99700084e-01 -6.43891020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484391418 meters 0.0142091771619283 Centerline is valid? [True, True] Translation: X:293.32, Y:-12.33, Z:-6.44 [[ 9.98330175e-01 5.18311096e-02 2.55028919e-02 2.93321080e+02] [-5.18155122e-02 9.98655863e-01 -1.27248799e-03 -1.23316369e+01] [-2.55345670e-02 -5.10822503e-05 9.99673938e-01 -6.44042161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544391418 meters 0.014289628734752853 Centerline is valid? [True, True] Translation: X:293.38, Y:-12.34, Z:-6.44 [[ 9.98428583e-01 4.92946659e-02 2.66533376e-02 2.93379326e+02] [-4.92767846e-02 9.98784279e-01 -1.32768159e-03 -1.23376389e+01] [-2.66863822e-02 1.22044755e-05 9.99643855e-01 -6.44230575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604391418 meters 0.014337813924511129 Centerline is valid? [True, True] Translation: X:293.44, Y:-12.34, Z:-6.44 [[ 9.98541070e-01 4.69723268e-02 2.66332929e-02 2.93437978e+02] [-4.69537046e-02 9.98896188e-01 -1.32449761e-03 -1.23429713e+01] [-2.66661095e-02 7.20334990e-05 9.99644393e-01 -6.44371512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664391418 meters 0.016065411222789178 Centerline is valid? [True, True] Translation: X:293.50, Y:-12.36, Z:-6.45 [[ 9.99013461e-01 3.60925298e-02 2.58734160e-02 2.93496594e+02] [-3.60713569e-02 9.99348391e-01 -1.28473288e-03 -1.23571124e+01] [-2.59029259e-02 3.50176216e-04 9.99664402e-01 -6.44614037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724391418 meters 0.020733722077841927 Centerline is valid? [True, True] Translation: X:293.56, Y:-12.37, Z:-6.45 [[ 9.99400028e-01 2.31535282e-02 2.57584539e-02 2.93556316e+02] [-2.31282791e-02 9.99731689e-01 -1.27775931e-03 -1.23748285e+01] [-2.57811272e-02 6.81243979e-04 9.99667379e-01 -6.44762372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784391418 meters 0.023805370139443314 Centerline is valid? [True, True] Translation: X:293.62, Y:-12.39, Z:-6.45 [[ 9.99564866e-01 1.53051269e-02 2.52157154e-02 2.93616527e+02] [-1.52784237e-02 9.99882495e-01 -1.25132338e-03 -1.23859340e+01] [-2.52319041e-02 8.65522504e-04 9.99681250e-01 -6.44906738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844391418 meters 0.027369542426653813 Centerline is valid? [True, True] Translation: X:293.68, Y:-12.40, Z:-6.45 [[ 9.99688885e-01 7.59391185e-03 2.37585018e-02 2.93676979e+02] [-7.56802156e-03 9.99970667e-01 -1.17945403e-03 -1.23982032e+01] [-2.37667616e-02 9.99282232e-04 9.99717031e-01 -6.45093469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904391418 meters 0.030047511844000497 Centerline is valid? [True, True] Translation: X:293.74, Y:-12.41, Z:-6.45 [[ 9.99721732e-01 5.08892855e-03 2.30339057e-02 2.93737186e+02] [-5.06392188e-03 9.99986524e-01 -1.14384508e-03 -1.24067200e+01] [-2.30394162e-02 1.02688489e-03 9.99734030e-01 -6.45219121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964391418 meters 0.03173536098470255 Centerline is valid? [True, True] Translation: X:293.80, Y:-12.41, Z:-6.45 [[ 9.99748606e-01 4.73125587e-03 2.19166731e-02 2.93797895e+02] [-4.70846635e-03 9.99988320e-01 -1.09131237e-03 -1.24136389e+01] [-2.19215804e-02 9.87844102e-04 9.99759205e-01 -6.45454948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024391418 meters 0.03141155006008708 Centerline is valid? [True, True] Translation: X:293.86, Y:-12.42, Z:-6.46 [[ 9.99769507e-01 7.03194238e-03 2.02850712e-02 2.93858140e+02] [-7.01278755e-03 9.99974895e-01 -1.01526340e-03 -1.24153662e+01] [-2.02917012e-02 8.72774492e-04 9.99793721e-01 -6.45669449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08439141799994 meters 0.027585003336283713 Centerline is valid? [True, True] Translation: X:293.92, Y:-12.41, Z:-6.46 [[ 9.99777062e-01 1.03537998e-02 1.84017726e-02 2.93920151e+02] [-1.03385958e-02 9.99946131e-01 -9.21171262e-04 -1.24124650e+01] [-1.84103189e-02 7.30717410e-04 9.99830249e-01 -6.45917930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14439141799994 meters 0.025245172055743562 Centerline is valid? [True, True] Translation: X:293.98, Y:-12.41, Z:-6.46 [[ 9.99742987e-01 1.57976786e-02 1.62601507e-02 2.93981429e+02] [-1.57865097e-02 9.99875053e-01 -8.15018860e-04 -1.24103958e+01] [-1.62709944e-02 5.58118363e-04 9.99867463e-01 -6.46132878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20439141799994 meters 0.02519239747910071 Centerline is valid? [True, True] Translation: X:294.04, Y:-12.41, Z:-6.46 [[ 9.99656305e-01 2.09136876e-02 1.58079225e-02 2.94041649e+02] [-2.09037750e-02 9.99781178e-01 -7.92052167e-04 -1.24109926e+01] [-1.58210282e-02 4.61334686e-04 9.99874733e-01 -6.46240440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26439141799995 meters 0.020815711549095787 Centerline is valid? [True, True] Translation: X:294.10, Y:-12.41, Z:-6.46 [[ 9.99616324e-01 2.35808398e-02 1.45309674e-02 2.94103145e+02] [-2.35727160e-02 9.99721858e-01 -7.30113035e-04 -1.24061287e+01] [-1.45441424e-02 3.87298541e-04 9.99894153e-01 -6.46263911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32439141799995 meters 0.020096340156640392 Centerline is valid? [True, True] Translation: X:294.16, Y:-12.41, Z:-6.46 [[ 9.99567255e-01 2.63368472e-02 1.31023918e-02 2.94163800e+02] [-2.63304684e-02 9.99653076e-01 -6.59135287e-04 -1.24062579e+01] [-1.31152058e-02 3.13857937e-04 9.99913943e-01 -6.46398587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38439141799995 meters 0.02013633431583622 Centerline is valid? [True, True] Translation: X:294.22, Y:-12.41, Z:-6.46 [[ 9.99548394e-01 2.69572085e-02 1.32784332e-02 2.94222596e+02] [-2.69507050e-02 9.99636540e-01 -6.68504810e-04 -1.24091874e+01] [-1.32916281e-02 3.10339772e-04 9.99911614e-01 -6.46461610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44439141799995 meters 0.021047433490245068 Centerline is valid? [True, True] Translation: X:294.28, Y:-12.41, Z:-6.47 [[ 9.99579366e-01 2.59438449e-02 1.29617526e-02 2.94281017e+02] [-2.59375725e-02 9.99663352e-01 -6.51821659e-04 -1.24143141e+01] [-1.29742998e-02 3.15351083e-04 9.99915781e-01 -6.46513002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50439141799995 meters 0.021550956865945443 Centerline is valid? [True, True] Translation: X:294.34, Y:-12.42, Z:-6.47 [[ 9.99648575e-01 2.29629637e-02 1.32449430e-02 2.94340732e+02] [-2.29561652e-02 9.99736251e-01 -6.65111627e-04 -1.24201048e+01] [-1.32567226e-02 3.60824790e-04 9.99912061e-01 -6.46536918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56439141799996 meters 0.02395981280611595 Centerline is valid? [True, True] Translation: X:294.40, Y:-12.43, Z:-6.47 [[ 9.99715927e-01 1.95721267e-02 1.36013543e-02 2.94400225e+02] [-1.95646560e-02 9.99808361e-01 -6.82114451e-04 -1.24288648e+01] [-1.36120982e-02 4.15814862e-04 9.99907265e-01 -6.46613929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62439141799996 meters 0.024798040493864998 Centerline is valid? [True, True] Translation: X:294.46, Y:-12.43, Z:-6.47 [[ 9.99744293e-01 1.86813402e-02 1.27418722e-02 2.94461108e+02] [-1.86747162e-02 9.99825408e-01 -6.38657142e-04 -1.24343410e+01] [-1.27515785e-02 4.00542987e-04 9.99918615e-01 -6.46801394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68439141799996 meters 0.024704964890360247 Centerline is valid? [True, True] Translation: X:294.52, Y:-12.44, Z:-6.47 [[ 9.99736471e-01 2.01269869e-02 1.10405504e-02 2.94522281e+02] [-2.01220983e-02 9.99797377e-01 -5.53698015e-04 -1.24381796e+01] [-1.10494576e-02 3.31393060e-04 9.99938898e-01 -6.47025975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74439141799996 meters 0.022188359425969976 Centerline is valid? [True, True] Translation: X:294.58, Y:-12.44, Z:-6.47 [[ 9.99678370e-01 2.31225078e-02 1.04166696e-02 2.94581693e+02] [-2.31183058e-02 9.99732599e-01 -5.23638680e-04 -1.24378839e+01] [-1.04259920e-02 2.82654510e-04 9.99945608e-01 -6.47011172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80439141799997 meters 0.02176168155319348 Centerline is valid? [True, True] Translation: X:294.64, Y:-12.44, Z:-6.47 [[ 9.99636289e-01 2.50563011e-02 9.97355113e-03 2.94641384e+02] [-2.50525487e-02 9.99686010e-01 -5.01006643e-04 -1.24407644e+01] [-9.98297291e-03 2.50961545e-04 9.99950137e-01 -6.47157778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86439141799997 meters 0.02068244112886939 Centerline is valid? [True, True] Translation: X:294.70, Y:-12.44, Z:-6.47 [[ 9.99595570e-01 2.67109088e-02 9.75830330e-03 2.94699855e+02] [-2.67073943e-02 9.99643174e-01 -4.90314707e-04 -1.24447165e+01] [-9.76791803e-03 2.29497555e-04 9.99952266e-01 -6.47302334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92439141799997 meters 0.019242887913284365 Centerline is valid? [True, True] Translation: X:294.76, Y:-12.45, Z:-6.47 [[ 9.99610147e-01 2.65518029e-02 8.63457137e-03 2.94758302e+02] [-2.65490487e-02 9.99647418e-01 -4.33457904e-04 -1.24467294e+01] [-8.64303607e-03 2.04049263e-04 9.99962627e-01 -6.47363375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984391418 meters 0.02148734025812449 Centerline is valid? [True, True] Translation: X:294.82, Y:-12.46, Z:-6.48 [[ 9.99667709e-01 2.46995120e-02 7.37604058e-03 2.94816298e+02] [-2.46974579e-02 9.99694903e-01 -3.69450961e-04 -1.24556485e+01] [-7.38291543e-03 1.87158744e-04 9.99972728e-01 -6.47695823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044391418 meters 0.0222381770199281 Centerline is valid? [True, True] Translation: X:294.88, Y:-12.46, Z:-6.48 [[ 9.99764805e-01 2.06924555e-02 6.49277829e-03 2.94875639e+02] [-2.06907817e-02 9.99785870e-01 -3.24870313e-04 -1.24623133e+01] [-6.49811035e-03 1.90453247e-04 9.99978869e-01 -6.47781502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104391418 meters 0.02409317745453413 Centerline is valid? [True, True] Translation: X:294.93, Y:-12.47, Z:-6.48 [[ 9.99832427e-01 1.73689386e-02 5.78253557e-03 2.94934892e+02] [-1.73675563e-02 9.99849131e-01 -2.89189238e-04 -1.24697005e+01] [-5.78668607e-03 1.88712266e-04 9.99983239e-01 -6.47933214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164391418 meters 0.026065244351537755 Centerline is valid? [True, True] Translation: X:294.99, Y:-12.48, Z:-6.48 [[ 9.99898840e-01 1.27379411e-02 6.32883230e-03 2.94994838e+02] [-1.27361966e-02 9.99918841e-01 -3.15872035e-04 -1.24774017e+01] [-6.33234222e-03 2.35234829e-04 9.99979923e-01 -6.48013218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224391418 meters 0.02907813658075649 Centerline is valid? [True, True] Translation: X:295.05, Y:-12.48, Z:-6.48 [[ 9.99935294e-01 8.82506196e-03 7.17812864e-03 2.95054055e+02] [-8.82272012e-03 9.99961015e-01 -3.57847513e-04 -1.24845875e+01] [-7.18100683e-03 2.94493738e-04 9.99974173e-01 -6.48106969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284391418 meters 0.03060088410513709 Centerline is valid? [True, True] Translation: X:295.12, Y:-12.49, Z:-6.48 [[ 9.99949439e-01 6.32921387e-03 7.81414182e-03 2.95115142e+02] [-6.32636795e-03 9.99979913e-01 -3.88866367e-04 -1.24903639e+01] [-7.81644607e-03 3.39411570e-04 9.99969394e-01 -6.48229575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344391418 meters 0.03417211679344864 Centerline is valid? [True, True] Translation: X:295.18, Y:-12.50, Z:-6.48 [[ 9.99946951e-01 1.81067689e-03 1.01398275e-02 2.95176298e+02] [-1.80564627e-03 9.99998242e-01 -5.05257577e-04 -1.24976928e+01] [-1.01407246e-02 4.86921832e-04 9.99948463e-01 -6.48156933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404391418 meters 0.03488435377026265 Centerline is valid? [True, True] Translation: X:295.24, Y:-12.50, Z:-6.48 [[ 9.99942165e-01 -1.08410993e-03 1.07000277e-02 2.95237122e+02] [ 1.08988424e-03 9.99999264e-01 -5.33838091e-04 -1.25008909e+01] [-1.06994411e-02 5.45469008e-04 9.99942611e-01 -6.48191478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464391418 meters 0.03550428868093244 Centerline is valid? [True, True] Translation: X:295.30, Y:-12.50, Z:-6.48 [[ 9.99936416e-01 -3.18776266e-03 1.08167875e-02 2.95299081e+02] [ 3.19378155e-03 9.99994754e-01 -5.39211940e-04 -1.25039834e+01] [-1.08150119e-02 5.73724111e-04 9.99941351e-01 -6.48341958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524391418 meters 0.04084288105956809 Centerline is valid? [True, True] Translation: X:295.36, Y:-12.51, Z:-6.49 [[ 9.99932955e-01 -4.68133411e-03 1.05910770e-02 2.95359408e+02] [ 4.68718956e-03 9.99988876e-01 -5.28111966e-04 -1.25133192e+01] [-1.05884869e-02 5.77718944e-04 9.99943774e-01 -6.48685441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58439141799994 meters 0.03706146215037821 Centerline is valid? [True, True] Translation: X:295.42, Y:-12.51, Z:-6.49 [[ 9.99940868e-01 -4.01171355e-03 1.01078014e-02 2.95421470e+02] [ 4.01703212e-03 9.99991804e-01 -5.05937565e-04 -1.25089231e+01] [-1.01056889e-02 5.46511011e-04 9.99948787e-01 -6.48839842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64439141799994 meters 0.03274174595155861 Centerline is valid? [True, True] Translation: X:295.48, Y:-12.50, Z:-6.49 [[ 9.99949798e-01 9.54591189e-04 9.97444134e-03 2.95482558e+02] [-9.49643998e-04 9.99999424e-01 -5.00711208e-04 -1.25016718e+01] [-9.97491356e-03 4.91213903e-04 9.99950129e-01 -6.48946224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70439141799994 meters 0.02853521153982593 Centerline is valid? [True, True] Translation: X:295.54, Y:-12.50, Z:-6.49 [[ 9.99917606e-01 6.87202449e-03 1.08423075e-02 2.95543319e+02] [-6.86652263e-03 9.99976277e-01 -5.44588274e-04 -1.24954483e+01] [-1.08457927e-02 4.70094454e-04 9.99941072e-01 -6.48941856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76439141799995 meters 0.025396444777420958 Centerline is valid? [True, True] Translation: X:295.60, Y:-12.49, Z:-6.49 [[ 9.99778387e-01 1.68755548e-02 1.25854201e-02 2.95603173e+02] [-1.68689256e-02 9.99857509e-01 -6.32711722e-04 -1.24878689e+01] [-1.25943042e-02 4.20268989e-04 9.99920600e-01 -6.48889824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82439141799995 meters 0.019038134069949895 Centerline is valid? [True, True] Translation: X:295.66, Y:-12.48, Z:-6.49 [[ 9.99511825e-01 2.73679565e-02 1.50700260e-02 2.95664129e+02] [-2.73596512e-02 9.99625368e-01 -7.57047213e-04 -1.24752687e+01] [-1.50850991e-02 3.44366987e-04 9.99886154e-01 -6.48699454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88439141799995 meters 0.016864105099428265 Centerline is valid? [True, True] Translation: X:295.72, Y:-12.47, Z:-6.49 [[ 9.99326503e-01 3.32411516e-02 1.55423770e-02 2.95723783e+02] [-3.32330223e-02 9.99447325e-01 -7.81095414e-04 -1.24712185e+01] [-1.55597516e-02 2.64049187e-04 9.99878905e-01 -6.48867767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94439141799995 meters 0.015167506150927042 Centerline is valid? [True, True] Translation: X:295.78, Y:-12.47, Z:-6.49 [[ 9.99109761e-01 3.97045727e-02 1.42559654e-02 2.95782749e+02] [-3.96983938e-02 9.99211451e-01 -7.16260578e-04 -1.24664563e+01] [-1.42731627e-02 1.49684007e-04 9.99898122e-01 -6.49170215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00439141799995 meters 0.014707534946985124 Centerline is valid? [True, True] Translation: X:295.84, Y:-12.47, Z:-6.49 [[ 9.99013908e-01 4.23329463e-02 1.33840411e-02 2.95840370e+02] [-4.23277468e-02 9.99103554e-01 -6.71641053e-04 -1.24669158e+01] [-1.34004755e-02 1.04462451e-04 9.99910204e-01 -6.49412841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06439141799996 meters 0.014163909860383506 Centerline is valid? [True, True] Translation: X:295.90, Y:-12.47, Z:-6.49 [[ 9.98841638e-01 4.59270842e-02 1.43556807e-02 2.95899325e+02] [-4.59214982e-02 9.98944793e-01 -7.18673982e-04 -1.24663284e+01] [-1.43735391e-02 5.86071317e-05 9.99896694e-01 -6.49389360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12439141799996 meters 0.014061201766644238 Centerline is valid? [True, True] Translation: X:295.96, Y:-12.47, Z:-6.49 [[ 9.98697904e-01 4.84427622e-02 1.59936258e-02 2.95958546e+02] [-4.84361750e-02 9.98825960e-01 -7.99197327e-04 -1.24683871e+01] [-1.60135639e-02 2.34866390e-05 9.99871774e-01 -6.49444072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18439141799996 meters 0.013998137091040487 Centerline is valid? [True, True] Translation: X:296.02, Y:-12.47, Z:-6.50 [[ 9.98670502e-01 4.86229478e-02 1.71183273e-02 2.96016820e+02] [-4.86154534e-02 9.98817205e-01 -8.53911198e-04 -1.24722372e+01] [-1.71395995e-02 2.05606839e-05 9.99853106e-01 -6.49546352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24439141799996 meters 0.01408505899911629 Centerline is valid? [True, True] Translation: X:296.07, Y:-12.48, Z:-6.50 [[ 9.98830319e-01 4.52455226e-02 1.70539298e-02 2.96074482e+02] [-4.52376130e-02 9.98975894e-01 -8.49475389e-04 -1.24810176e+01] [-1.70748997e-02 7.70026980e-05 9.99854210e-01 -6.49790119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30439141799997 meters 0.015300788113999333 Centerline is valid? [True, True] Translation: X:296.13, Y:-12.49, Z:-6.50 [[ 9.99149696e-01 3.77266317e-02 1.66309120e-02 2.96132753e+02] [-3.77181006e-02 9.99288078e-01 -8.26445492e-04 -1.24942014e+01] [-1.66502511e-02 1.98456349e-04 9.99861355e-01 -6.49974326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36439141799997 meters 0.018641604846308803 Centerline is valid? [True, True] Translation: X:296.19, Y:-12.51, Z:-6.50 [[ 9.99453315e-01 2.80223343e-02 1.75447861e-02 2.96191685e+02] [-2.80113741e-02 9.99607226e-01 -8.70179623e-04 -1.25108863e+01] [-1.75622794e-02 3.78250342e-04 9.99845700e-01 -6.50078076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42439141799997 meters 0.021544377507592145 Centerline is valid? [True, True] Translation: X:296.25, Y:-12.52, Z:-6.50 [[ 9.99612260e-01 2.14434315e-02 1.77625974e-02 2.96251725e+02] [-2.14311749e-02 9.99769939e-01 -8.80106958e-04 -1.25228506e+01] [-1.77773835e-02 4.99092373e-04 9.99841845e-01 -6.50249466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484391418 meters 0.0252509008742985 Centerline is valid? [True, True] Translation: X:296.31, Y:-12.53, Z:-6.50 [[ 9.99731649e-01 1.55547249e-02 1.71662631e-02 2.96310951e+02] [-1.55424173e-02 9.99878848e-01 -8.50150754e-04 -1.25349227e+01] [-1.71774073e-02 5.83117391e-04 9.99852287e-01 -6.50489448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544391418 meters 0.027456476540570665 Centerline is valid? [True, True] Translation: X:296.37, Y:-12.55, Z:-6.51 [[ 9.99816188e-01 9.21838538e-03 1.68110372e-02 2.96371392e+02] [-9.20566048e-03 9.99957279e-01 -8.34165399e-04 -1.25450145e+01] [-1.68180087e-02 6.79255369e-04 9.99858337e-01 -6.50682435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604391418 meters 0.02934579745789185 Centerline is valid? [True, True] Translation: X:296.43, Y:-12.55, Z:-6.51 [[ 9.99836378e-01 3.19425750e-03 1.78048926e-02 2.96431865e+02] [-3.17901485e-03 9.99994556e-01 -8.84330879e-04 -1.25528563e+01] [-1.78076205e-02 8.27584165e-04 9.99841089e-01 -6.50748122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664391418 meters 0.03175354332314598 Centerline is valid? [True, True] Translation: X:296.49, Y:-12.56, Z:-6.51 [[ 9.99825061e-01 -2.45505905e-03 1.85423803e-02 2.96492450e+02] [ 2.47256784e-03 9.99996519e-01 -9.21390967e-04 -1.25603321e+01] [-1.85400537e-02 9.67077073e-04 9.99827651e-01 -6.50800720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724391418 meters 0.036882677763017256 Centerline is valid? [True, True] Translation: X:296.55, Y:-12.57, Z:-6.51 [[ 9.99813971e-01 -4.73563395e-03 1.86975094e-02 2.96552688e+02] [ 4.75383485e-03 9.99988269e-01 -9.29112908e-04 -1.25706973e+01] [-1.86928902e-02 1.01782494e-03 9.99824755e-01 -6.51032345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784391418 meters 0.034027388216579836 Centerline is valid? [True, True] Translation: X:296.62, Y:-12.57, Z:-6.51 [[ 9.99837677e-01 -5.85183153e-03 1.70404297e-02 2.96615250e+02] [ 5.86711741e-03 9.99982429e-01 -8.47180912e-04 -1.25696444e+01] [-1.70351727e-02 9.47021596e-04 9.99854442e-01 -6.51398845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844391418 meters 0.03457161274580827 Centerline is valid? [True, True] Translation: X:296.68, Y:-12.57, Z:-6.52 [[ 9.99854679e-01 -6.67204002e-03 1.56877210e-02 2.96676847e+02] [ 6.68509538e-03 9.99977350e-01 -7.79908782e-04 -1.25724923e+01] [-1.56821620e-02 8.84669356e-04 9.99876636e-01 -6.51728335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904391418 meters 0.03576161587487989 Centerline is valid? [True, True] Translation: X:296.74, Y:-12.58, Z:-6.52 [[ 9.99864984e-01 -8.00287027e-03 1.43515872e-02 2.96738869e+02] [ 8.01400099e-03 9.99967629e-01 -7.18231297e-04 -1.25751550e+01] [-1.43453747e-02 8.33147959e-04 9.99896753e-01 -6.51990866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964391418 meters 0.037430806372858755 Centerline is valid? [True, True] Translation: X:296.80, Y:-12.58, Z:-6.52 [[ 9.99860517e-01 -9.38826577e-03 1.38132796e-02 2.96801305e+02] [ 9.39872360e-03 9.99955591e-01 -6.92362100e-04 -1.25776736e+01] [-1.38061661e-02 8.22092725e-04 9.99904352e-01 -6.52209120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024391418 meters 0.03842095799683158 Centerline is valid? [True, True] Translation: X:296.86, Y:-12.58, Z:-6.52 [[ 9.99819455e-01 -9.48147242e-03 1.64669226e-02 2.96863689e+02] [ 9.49637519e-03 9.99954566e-01 -8.27053448e-04 -1.25786016e+01] [-1.64583328e-02 9.83280203e-04 9.99864069e-01 -6.52102403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08439141799994 meters 0.03975825717526227 Centerline is valid? [True, True] Translation: X:296.92, Y:-12.58, Z:-6.52 [[ 9.99785136e-01 -8.95042538e-03 1.86968340e-02 2.96924830e+02] [ 8.96957969e-03 9.99959330e-01 -9.40858952e-04 -1.25799951e+01] [-1.86876526e-02 1.10835954e-03 9.99824756e-01 -6.52037919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14439141799994 meters 0.03674999570630387 Centerline is valid? [True, True] Translation: X:296.99, Y:-12.57, Z:-6.52 [[ 9.99762600e-01 -7.16860043e-03 2.05755827e-02 2.96986945e+02] [ 7.19145012e-03 9.99973604e-01 -1.03674636e-03 -1.25738948e+01] [-2.05676076e-02 1.18446851e-03 9.99787763e-01 -6.51976802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20439141799994 meters 0.03674518560950169 Centerline is valid? [True, True] Translation: X:297.05, Y:-12.57, Z:-6.52 [[ 9.99786860e-01 -6.02200569e-03 1.97476830e-02 2.97048927e+02] [ 6.04285199e-03 9.99981246e-01 -9.96130191e-04 -1.25724255e+01] [-1.97413139e-02 1.11525020e-03 9.99804499e-01 -6.52211538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26439141799995 meters 0.038023641786023986 Centerline is valid? [True, True] Translation: X:297.11, Y:-12.57, Z:-6.52 [[ 9.99812313e-01 -5.62990097e-03 1.85375842e-02 2.97111164e+02] [ 5.64821473e-03 9.99983611e-01 -9.35717509e-04 -1.25745968e+01] [-1.85320124e-02 1.04024614e-03 9.99827726e-01 -6.52486033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32439141799995 meters 0.037638125707801284 Centerline is valid? [True, True] Translation: X:297.17, Y:-12.57, Z:-6.53 [[ 9.99853468e-01 -5.19768886e-03 1.63102977e-02 2.97173855e+02] [ 5.21189411e-03 9.99986075e-01 -8.28551479e-04 -1.25727108e+01] [-1.63057641e-02 9.13437614e-04 9.99866635e-01 -6.52803885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38439141799995 meters 0.037759720402432875 Centerline is valid? [True, True] Translation: X:297.24, Y:-12.57, Z:-6.53 [[ 9.99865323e-01 -4.24467035e-03 1.58530105e-02 2.97236190e+02] [ 4.25798972e-03 9.99990609e-01 -8.06520811e-04 -1.25742805e+01] [-1.58494382e-02 8.73914147e-04 9.99874008e-01 -6.52983484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44439141799995 meters 0.03481752870646921 Centerline is valid? [True, True] Translation: X:297.30, Y:-12.57, Z:-6.53 [[ 9.99868437e-01 1.78213360e-03 1.61224321e-02 2.97297242e+02] [-1.76911134e-03 9.99998097e-01 -8.21936583e-04 -1.25674497e+01] [-1.61238662e-02 7.93306069e-04 9.99869687e-01 -6.53008943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50439141799995 meters 0.03179009370917668 Centerline is valid? [True, True] Translation: X:297.36, Y:-12.56, Z:-6.53 [[ 9.99818270e-01 8.08268515e-03 1.72654768e-02 2.97357981e+02] [-8.06868609e-03 9.99967060e-01 -8.80319897e-04 -1.25616932e+01] [-1.72720234e-02 7.40850204e-04 9.99850553e-01 -6.52917336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56439141799996 meters 0.026992523551450362 Centerline is valid? [True, True] Translation: X:297.42, Y:-12.55, Z:-6.53 [[ 9.99649050e-01 1.83888406e-02 1.90690337e-02 2.97417908e+02] [-1.83736331e-02 9.99830718e-01 -9.72403779e-04 -1.25522131e+01] [-1.90836870e-02 6.21695085e-04 9.99817697e-01 -6.52831101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62439141799996 meters 0.019138714239748934 Centerline is valid? [True, True] Translation: X:297.48, Y:-12.54, Z:-6.53 [[ 9.99396623e-01 2.92710897e-02 1.86974344e-02 2.97479744e+02] [-2.92583800e-02 9.99571428e-01 -9.53009020e-04 -1.25379691e+01] [-1.87173169e-02 4.05377354e-04 9.99824733e-01 -6.52918739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68439141799996 meters 0.016329045673152943 Centerline is valid? [True, True] Translation: X:297.54, Y:-12.53, Z:-6.53 [[ 9.99162446e-01 3.70031725e-02 1.74691656e-02 2.97539565e+02] [-3.69932539e-02 9.99315118e-01 -8.90695030e-04 -1.25310660e+01] [-1.74901598e-02 2.43707748e-04 9.99847006e-01 -6.53103935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74439141799996 meters 0.01492093696557175 Centerline is valid? [True, True] Translation: X:297.60, Y:-12.52, Z:-6.53 [[ 9.98745777e-01 4.80456933e-02 1.40884618e-02 2.97599346e+02] [-4.80403439e-02 9.98845138e-01 -7.18076449e-04 -1.25237616e+01] [-1.41066921e-02 4.03612696e-05 9.99900495e-01 -6.53424673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80439141799997 meters 0.015304538955769588 Centerline is valid? [True, True] Translation: X:297.66, Y:-12.52, Z:-6.54 [[ 9.98317768e-01 5.66372891e-02 1.24037205e-02 2.97658366e+02] [-5.66338101e-02 9.98394818e-01 -6.31832690e-04 -1.25196456e+01] [-1.24195955e-02 -7.17001486e-05 9.99922871e-01 -6.53593407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86439141799997 meters 0.01580223950151426 Centerline is valid? [True, True] Translation: X:297.72, Y:-12.52, Z:-6.54 [[ 9.98143965e-01 5.96574216e-02 1.22317886e-02 2.97715781e+02] [-5.96542748e-02 9.98218904e-01 -6.22277040e-04 -1.25210471e+01] [-1.22471260e-02 -1.08556405e-04 9.99924995e-01 -6.53729553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92439141799997 meters 0.01599568112958547 Centerline is valid? [True, True] Translation: X:297.77, Y:-12.53, Z:-6.54 [[ 9.98111836e-01 5.99238862e-02 1.34866978e-02 2.97773761e+02] [-5.99201066e-02 9.98202941e-01 -6.84516239e-04 -1.25260650e+01] [-1.35034803e-02 -1.24900608e-04 9.99908816e-01 -6.53745518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984391418 meters 0.015218274846577381 Centerline is valid? [True, True] Translation: X:297.83, Y:-12.54, Z:-6.54 [[ 9.98375524e-01 5.52508687e-02 1.39160152e-02 2.97830709e+02] [-5.52464059e-02 9.98472502e-01 -7.05209859e-04 -1.25371214e+01] [-1.39337219e-02 -6.47455598e-05 9.99902919e-01 -6.53827310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044391418 meters 0.014686667344722938 Centerline is valid? [True, True] Translation: X:297.89, Y:-12.55, Z:-6.54 [[ 9.98913141e-01 4.47867016e-02 1.29107888e-02 2.97888616e+02] [-4.47820132e-02 9.98996570e-01 -6.52151012e-04 -1.25549077e+01] [-1.29270414e-02 7.32710996e-05 9.99916440e-01 -6.53957712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104391418 meters 0.016339250011266616 Centerline is valid? [True, True] Translation: X:297.95, Y:-12.57, Z:-6.54 [[ 9.99329538e-01 3.47032723e-02 1.16686458e-02 2.97946892e+02] [-3.46987665e-02 9.99397643e-01 -5.88429966e-04 -1.25708960e+01] [-1.16820375e-02 1.83147831e-04 9.99931746e-01 -6.54237271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164391418 meters 0.020332910592303535 Centerline is valid? [True, True] Translation: X:298.01, Y:-12.59, Z:-6.55 [[ 9.99652442e-01 2.42263056e-02 1.03962077e-02 2.98005670e+02] [-2.42221726e-02 9.99706463e-01 -5.23296459e-04 -1.25879845e+01] [-1.04058336e-02 2.71295846e-04 9.99945821e-01 -6.54592338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224391418 meters 0.02751520693556979 Centerline is valid? [True, True] Translation: X:298.06, Y:-12.61, Z:-6.55 [[ 9.99900961e-01 1.14097515e-02 8.23929446e-03 2.98063968e+02] [-1.14067233e-02 9.99934855e-01 -4.14430355e-04 -1.26096030e+01] [-8.24348626e-03 3.20405958e-04 9.99965971e-01 -6.54937565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284391418 meters 0.030971141704322542 Centerline is valid? [True, True] Translation: X:298.12, Y:-12.62, Z:-6.55 [[ 9.99969140e-01 2.55341127e-03 7.42958569e-03 2.98124828e+02] [-2.55070987e-03 9.99996677e-01 -3.73053547e-04 -1.26231207e+01] [-7.43051357e-03 3.54091317e-04 9.99972331e-01 -6.54991644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344391418 meters 0.03615006022889714 Centerline is valid? [True, True] Translation: X:298.18, Y:-12.64, Z:-6.55 [[ 9.99967431e-01 -3.20901504e-03 7.40541354e-03 2.98183564e+02] [ 3.21186463e-03 9.99994772e-01 -3.72938282e-04 -1.26372390e+01] [-7.40417807e-03 3.96711321e-04 9.99972510e-01 -6.55087181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404391418 meters 0.035908522282808907 Centerline is valid? [True, True] Translation: X:298.24, Y:-12.64, Z:-6.55 [[ 9.99956814e-01 -5.92069901e-03 7.16349556e-03 2.98244100e+02] [ 5.92343024e-03 9.99982391e-01 -3.60114735e-04 -1.26422303e+01] [-7.16123729e-03 4.02531650e-04 9.99974277e-01 -6.55099010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464391418 meters 0.03955041522594841 Centerline is valid? [True, True] Translation: X:298.30, Y:-12.65, Z:-6.55 [[ 9.99940559e-01 -8.99760286e-03 6.15813196e-03 2.98303342e+02] [ 8.99968173e-03 9.99959454e-01 -3.09953120e-04 -1.26534766e+01] [-6.15509344e-03 3.65355924e-04 9.99980990e-01 -6.55304616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524391418 meters 0.03967347424852937 Centerline is valid? [True, True] Translation: X:298.36, Y:-12.66, Z:-6.55 [[ 9.99923014e-01 -1.14921034e-02 4.67953904e-03 2.98364138e+02] [ 1.14933295e-02 9.99933922e-01 -2.35188075e-04 -1.26600441e+01] [-4.67652702e-03 2.88953452e-04 9.99989023e-01 -6.55469491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58439141799994 meters 0.04069526141470256 Centerline is valid? [True, True] Translation: X:298.43, Y:-12.67, Z:-6.56 [[ 9.99917232e-01 -1.25154018e-02 2.98231892e-03 2.98426177e+02] [ 1.25159006e-02 9.99921662e-01 -1.48656307e-04 -1.26656985e+01] [-2.98022480e-03 1.85970410e-04 9.99995542e-01 -6.55731915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64439141799994 meters 0.04498271251541799 Centerline is valid? [True, True] Translation: X:298.49, Y:-12.67, Z:-6.56 [[ 9.99925162e-01 -1.22336969e-02 7.86156364e-05 2.98486693e+02] [ 1.22336971e-02 9.99925166e-01 -2.67891744e-06 -1.26738160e+01] [-7.85769802e-05 3.64047684e-06 9.99999997e-01 -6.56231241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70439141799994 meters 0.037906361909063914 Centerline is valid? [True, True] Translation: X:298.55, Y:-12.67, Z:-6.56 [[ 9.99944837e-01 -1.03075754e-02 -2.01921083e-03 2.98549958e+02] [ 1.03078071e-02 9.99946868e-01 1.04376895e-04 -1.26661005e+01] [ 2.01802767e-03 -1.25184773e-04 9.99997956e-01 -6.56231536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76439141799995 meters 0.035338375879060115 Centerline is valid? [True, True] Translation: X:298.61, Y:-12.66, Z:-6.56 [[ 9.99990306e-01 -3.90708049e-03 -2.03041148e-03 2.98611053e+02] [ 3.90729707e-03 9.99992361e-01 1.02709010e-04 -1.26617989e+01] [ 2.02999468e-03 -1.10641435e-04 9.99997933e-01 -6.56330054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82439141799995 meters 0.0294813966718502 Centerline is valid? [True, True] Translation: X:298.67, Y:-12.65, Z:-6.56 [[ 9.99982114e-01 5.88714300e-03 1.05467835e-03 2.98672058e+02] [-5.88708996e-03 9.99982670e-01 -5.33855228e-05 -1.26517351e+01] [-1.05497436e-03 4.71755817e-05 9.99999442e-01 -6.56039763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88439141799995 meters 0.02653743231273684 Centerline is valid? [True, True] Translation: X:298.73, Y:-12.65, Z:-6.56 [[ 9.99904704e-01 1.33556359e-02 3.49433403e-03 2.98731860e+02] [-1.33550981e-02 9.99910801e-01 -1.77200668e-04 -1.26471219e+01] [-3.49638896e-03 1.30516608e-04 9.99993879e-01 -6.55964566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94439141799995 meters 0.020626920561305193 Centerline is valid? [True, True] Translation: X:298.79, Y:-12.64, Z:-6.56 [[ 9.99698141e-01 2.39678242e-02 5.40086535e-03 2.98793088e+02] [-2.39666980e-02 9.99712720e-01 -2.73154550e-04 -1.26381113e+01] [-5.40586071e-03 1.43631187e-04 9.99985378e-01 -6.55894127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00439141799995 meters 0.017123986942295125 Centerline is valid? [True, True] Translation: X:298.85, Y:-12.63, Z:-6.56 [[ 9.99465867e-01 3.20659163e-02 6.30531294e-03 2.98853796e+02] [-3.20645410e-02 9.99485749e-01 -3.19124527e-04 -1.26335473e+01] [-6.31230345e-03 1.16777107e-04 9.99980070e-01 -6.55961260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06439141799996 meters 0.015340082852724974 Centerline is valid? [True, True] Translation: X:298.91, Y:-12.63, Z:-6.56 [[ 9.99303779e-01 3.68269042e-02 5.97797869e-03 2.98912652e+02] [-3.68257479e-02 9.99321656e-01 -3.03430614e-04 -1.26320988e+01] [-5.98509798e-03 8.30758236e-05 9.99982086e-01 -6.56076733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12439141799996 meters 0.013980765299779027 Centerline is valid? [True, True] Translation: X:298.97, Y:-12.63, Z:-6.56 [[ 9.98934228e-01 4.58984170e-02 4.87266061e-03 2.98971360e+02] [-4.58977570e-02 9.98946112e-01 -2.47240849e-04 -1.26289620e+01] [-4.87887333e-03 2.33331537e-05 9.99988098e-01 -6.56369083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18439141799996 meters 0.014184933193214557 Centerline is valid? [True, True] Translation: X:299.03, Y:-12.62, Z:-6.56 [[ 9.98390415e-01 5.63394871e-02 6.51466114e-03 2.99030761e+02] [-5.63385367e-02 9.98411669e-01 -3.29448510e-04 -1.26242294e+01] [-6.52287467e-03 -3.81082411e-05 9.99978725e-01 -6.56394438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24439141799996 meters 0.01537514620489949 Centerline is valid? [True, True] Translation: X:299.09, Y:-12.62, Z:-6.56 [[ 9.97994224e-01 6.27508875e-02 8.35794401e-03 2.99089240e+02] [-6.27495551e-02 9.98029216e-01 -4.21806788e-04 -1.26234037e+01] [-8.36794106e-03 -1.03496531e-04 9.99964983e-01 -6.56321028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30439141799997 meters 0.01613659250730786 Centerline is valid? [True, True] Translation: X:299.15, Y:-12.62, Z:-6.56 [[ 9.97818655e-01 6.53248846e-02 9.51795734e-03 2.99148424e+02] [-6.53232880e-02 9.97864038e-01 -4.78852876e-04 -1.26245178e+01] [-9.52890836e-03 -1.43935936e-04 9.99954589e-01 -6.56395573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36439141799997 meters 0.017752075189405223 Centerline is valid? [True, True] Translation: X:299.21, Y:-12.63, Z:-6.56 [[ 9.97540044e-01 6.92101027e-02 1.11275267e-02 2.99206937e+02] [-6.92081751e-02 9.97602083e-01 -5.58661272e-04 -1.26270428e+01] [-1.11395088e-02 -2.12828829e-04 9.99937931e-01 -6.56475951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42439141799997 meters 0.014846403387458447 Centerline is valid? [True, True] Translation: X:299.27, Y:-12.64, Z:-6.57 [[ 9.97911033e-01 6.35714198e-02 1.14997741e-02 2.99265543e+02] [-6.35689994e-02 9.97977279e-01 -5.76254230e-04 -1.26422595e+01] [-1.15131466e-02 -1.55978681e-04 9.99933709e-01 -6.56620298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484391418 meters 0.013266453450500818 Centerline is valid? [True, True] Translation: X:299.32, Y:-12.66, Z:-6.57 [[ 9.98385680e-01 5.54368268e-02 1.23609121e-02 2.99324271e+02] [-5.54334172e-02 9.98462194e-01 -6.18545880e-04 -1.26561989e+01] [-1.23761937e-02 -6.76602489e-05 9.99923410e-01 -6.56829758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544391418 meters 0.014195607269233638 Centerline is valid? [True, True] Translation: X:299.38, Y:-12.68, Z:-6.57 [[ 9.99114437e-01 3.98536512e-02 1.34918090e-02 2.99380954e+02] [-3.98481736e-02 9.99205518e-01 -6.74680163e-04 -1.26793602e+01] [-1.35079784e-02 1.36458745e-04 9.99908754e-01 -6.57080531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604391418 meters 0.017046695019268667 Centerline is valid? [True, True] Translation: X:299.44, Y:-12.70, Z:-6.57 [[ 9.99450589e-01 2.97412360e-02 1.46279959e-02 2.99440045e+02] [-2.97337506e-02 9.99557588e-01 -7.28983296e-04 -1.26959312e+01] [-1.46432051e-02 2.93637603e-04 9.99892739e-01 -6.57240613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664391418 meters 0.022684468731704904 Centerline is valid? [True, True] Translation: X:299.50, Y:-12.72, Z:-6.57 [[ 9.99728835e-01 1.72639219e-02 1.56273436e-02 2.99499127e+02] [-1.72538701e-02 9.99850838e-01 -7.77822592e-04 -1.27172887e+01] [-1.56384409e-02 5.07979516e-04 9.99877583e-01 -6.57454311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724391418 meters 0.02735824773428132 Centerline is valid? [True, True] Translation: X:299.56, Y:-12.73, Z:-6.58 [[ 9.99871787e-01 7.55960180e-03 1.41160151e-02 2.99558695e+02] [-7.55043409e-03 9.99971248e-01 -7.02636464e-04 -1.27338696e+01] [-1.41209209e-02 5.95964335e-04 9.99900117e-01 -6.57846716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784391418 meters 0.03278726446751589 Centerline is valid? [True, True] Translation: X:299.62, Y:-12.75, Z:-6.58 [[ 9.99901081e-01 2.17754892e-03 1.38955399e-02 2.99617654e+02] [-2.16814569e-03 9.99997410e-01 -6.91737217e-04 -1.27482098e+01] [-1.38970102e-02 6.61541236e-04 9.99903213e-01 -6.58130194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844391418 meters 0.03426783151637623 Centerline is valid? [True, True] Translation: X:299.68, Y:-12.76, Z:-6.58 [[ 9.99885826e-01 -2.66741867e-03 1.48734875e-02 2.99678230e+02] [ 2.67872470e-03 9.99996138e-01 -7.40276158e-04 -1.27569417e+01] [-1.48714554e-02 7.80033615e-04 9.99889110e-01 -6.58250091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904391418 meters 0.036448904366235636 Centerline is valid? [True, True] Translation: X:299.74, Y:-12.76, Z:-6.58 [[ 9.99876526e-01 -3.50955758e-03 1.53171719e-02 2.99739399e+02] [ 3.52164767e-03 9.99993508e-01 -7.62414768e-04 -1.27630248e+01] [-1.53143967e-02 8.16262313e-04 9.99882395e-01 -6.58316840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964391418 meters 0.03628858595674455 Centerline is valid? [True, True] Translation: X:299.80, Y:-12.77, Z:-6.58 [[ 9.99865738e-01 -2.37585401e-03 1.62129977e-02 2.99801255e+02] [ 2.38926615e-03 9.99996819e-01 -8.07926235e-04 -1.27656016e+01] [-1.62110266e-02 8.46554928e-04 9.99868234e-01 -6.58386407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024391418 meters 0.03634375561206758 Centerline is valid? [True, True] Translation: X:299.86, Y:-12.77, Z:-6.59 [[ 9.99858944e-01 -8.04080440e-04 1.67763567e-02 2.99863500e+02] [ 8.18243089e-04 9.99999315e-01 -8.37355937e-04 -1.27685471e+01] [-1.67756719e-02 8.50964961e-04 9.99858916e-01 -6.58527959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08439141799994 meters 0.03159945605017693 Centerline is valid? [True, True] Translation: X:299.93, Y:-12.76, Z:-6.59 [[ 9.99865006e-01 -4.07951594e-04 1.64257070e-02 2.99926220e+02] [ 4.21494362e-04 9.99999574e-01 -8.21032664e-04 -1.27645613e+01] [-1.64253651e-02 8.27845172e-04 9.99864752e-01 -6.58651794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14439141799994 meters 0.03740097276872257 Centerline is valid? [True, True] Translation: X:299.99, Y:-12.77, Z:-6.59 [[ 9.99879803e-01 -4.58635162e-04 1.54973627e-02 2.99986750e+02] [ 4.70696257e-04 9.99999589e-01 -7.74629046e-04 -1.27735602e+01] [-1.54970010e-02 7.81830489e-04 9.99879609e-01 -6.59007052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20439141799994 meters 0.032475474738080774 Centerline is valid? [True, True] Translation: X:300.05, Y:-12.77, Z:-6.59 [[ 9.99871088e-01 -8.34848305e-05 1.60561881e-02 3.00049227e+02] [ 9.64708356e-05 9.99999669e-01 -8.08012239e-04 -1.27690415e+01] [-1.60561154e-02 8.09457030e-04 9.99870765e-01 -6.59071098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26439141799995 meters 0.031889615745239776 Centerline is valid? [True, True] Translation: X:300.11, Y:-12.77, Z:-6.59 [[ 9.99853874e-01 3.14442416e-03 1.68030992e-02 3.00109619e+02] [-3.13062705e-03 9.99994741e-01 -8.47346057e-04 -1.27678482e+01] [-1.68056753e-02 7.94618000e-04 9.99858459e-01 -6.59127296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32439141799995 meters 0.029781278630871235 Centerline is valid? [True, True] Translation: X:300.17, Y:-12.76, Z:-6.59 [[ 9.99782673e-01 9.84535348e-03 1.83759532e-02 3.00169880e+02] [-9.82997162e-03 9.99951255e-01 -9.27204221e-04 -1.27630225e+01] [-1.83841862e-02 7.46367616e-04 9.99830718e-01 -6.59105266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38439141799995 meters 0.026328417842561305 Centerline is valid? [True, True] Translation: X:300.23, Y:-12.76, Z:-6.59 [[ 9.99700303e-01 1.49750197e-02 1.93662987e-02 3.00231351e+02] [-1.49589045e-02 9.99887632e-01 -9.76731215e-04 -1.27584180e+01] [-1.93787492e-02 6.86739878e-04 9.99811979e-01 -6.59168205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44439141799995 meters 0.023123636902608755 Centerline is valid? [True, True] Translation: X:300.29, Y:-12.75, Z:-6.59 [[ 9.99545067e-01 2.14763652e-02 2.11760486e-02 3.00292266e+02] [-2.14585441e-02 9.99769168e-01 -1.06846544e-03 -1.27522481e+01] [-2.11941073e-02 6.13572185e-04 9.99775191e-01 -6.59142230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50439141799995 meters 0.022113987585448205 Centerline is valid? [True, True] Translation: X:300.35, Y:-12.75, Z:-6.59 [[ 9.99455244e-01 2.45639964e-02 2.20414408e-02 3.00354778e+02] [-2.45454386e-02 9.99698097e-01 -1.11213509e-03 -1.27513722e+01] [-2.20621049e-02 5.70512414e-04 9.99756439e-01 -6.59154603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56439141799996 meters 0.02215739274491861 Centerline is valid? [True, True] Translation: X:300.42, Y:-12.75, Z:-6.59 [[ 9.99416498e-01 2.58951245e-02 2.22734447e-02 3.00416085e+02] [-2.58763732e-02 9.99664512e-01 -1.12972157e-03 -1.27519592e+01] [-2.22952265e-02 5.52706406e-04 9.99751278e-01 -6.59226425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62439141799996 meters 0.020325333383751698 Centerline is valid? [True, True] Translation: X:300.48, Y:-12.75, Z:-6.59 [[ 9.99462556e-01 2.44614195e-02 2.18228649e-02 3.00478433e+02] [-2.44429664e-02 9.99700608e-01 -1.11196323e-03 -1.27505724e+01] [-2.18435315e-02 5.77950061e-04 9.99761235e-01 -6.59384839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68439141799996 meters 0.021107871928628053 Centerline is valid? [True, True] Translation: X:300.54, Y:-12.75, Z:-6.60 [[ 9.99494549e-01 2.30228822e-02 2.19224472e-02 3.00540954e+02] [-2.30037780e-02 9.99734747e-01 -1.12325953e-03 -1.27548151e+01] [-2.19424929e-02 6.18392667e-04 9.99759043e-01 -6.59525077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74439141799996 meters 0.02334644286070925 Centerline is valid? [True, True] Translation: X:300.60, Y:-12.76, Z:-6.60 [[ 9.99552927e-01 1.97531572e-02 2.24445635e-02 3.00601381e+02] [-1.97321646e-02 9.99804633e-01 -1.15641332e-03 -1.27618742e+01] [-2.24630214e-02 7.13016498e-04 9.99747420e-01 -6.59682582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80439141799997 meters 0.02332633008423865 Centerline is valid? [True, True] Translation: X:300.66, Y:-12.77, Z:-6.60 [[ 9.99589107e-01 1.79367980e-02 2.23581954e-02 3.00663281e+02] [-1.79154911e-02 9.99838840e-01 -1.15293858e-03 -1.27654181e+01] [-2.23752722e-02 7.51906792e-04 9.99749360e-01 -6.59852071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86439141799997 meters 0.026433997569823474 Centerline is valid? [True, True] Translation: X:300.72, Y:-12.77, Z:-6.60 [[ 9.99658805e-01 1.44734470e-02 2.17437821e-02 3.00724463e+02] [-1.44523456e-02 9.99894924e-01 -1.12729699e-03 -1.27734209e+01] [-2.17578132e-02 8.12663713e-04 9.99762940e-01 -6.60035250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92439141799997 meters 0.028036029311877306 Centerline is valid? [True, True] Translation: X:300.79, Y:-12.78, Z:-6.60 [[ 9.99692681e-01 1.23502939e-02 2.14945256e-02 3.00785986e+02] [-1.23290633e-02 9.99923367e-01 -1.11996123e-03 -1.27795660e+01] [-2.15067103e-02 8.54609679e-04 9.99768339e-01 -6.60214141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984391418 meters 0.028779084360804966 Centerline is valid? [True, True] Translation: X:300.85, Y:-12.78, Z:-6.60 [[ 9.99726876e-01 1.18187165e-02 2.01616479e-02 3.00848362e+02] [-1.17998827e-02 9.99929825e-01 -1.05285225e-03 -1.27839754e+01] [-2.01726765e-02 8.14659611e-04 9.99796179e-01 -6.60460451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044391418 meters 0.029105148588796155 Centerline is valid? [True, True] Translation: X:300.91, Y:-12.79, Z:-6.61 [[ 9.99719180e-01 1.38815189e-02 1.92058732e-02 3.00909864e+02] [-1.38647133e-02 9.99903372e-01 -1.00790707e-03 -1.27870537e+01] [-1.92180087e-02 7.41340107e-04 9.99815042e-01 -6.60728868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104391418 meters 0.022858214929177983 Centerline is valid? [True, True] Translation: X:300.97, Y:-12.78, Z:-6.61 [[ 9.99633900e-01 2.04226329e-02 1.77477108e-02 3.00971501e+02] [-2.04092169e-02 9.99791271e-01 -9.36744458e-04 -1.27799123e+01] [-1.77631371e-02 5.74184637e-04 9.99842058e-01 -6.60936756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164391418 meters 0.01909795590881077 Centerline is valid? [True, True] Translation: X:301.03, Y:-12.77, Z:-6.61 [[ 9.99400873e-01 3.01731387e-02 1.69551419e-02 3.01032717e+02] [-3.01622905e-02 9.99544614e-01 -8.95236826e-04 -1.27735985e+01] [-1.69744329e-02 3.83294551e-04 9.99855850e-01 -6.61005099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224391418 meters 0.01800640199853878 Centerline is valid? [True, True] Translation: X:301.09, Y:-12.77, Z:-6.61 [[ 9.99293886e-01 3.34418934e-02 1.71280467e-02 3.01092552e+02] [-3.34312917e-02 9.99440608e-01 -9.05001270e-04 -1.27731740e+01] [-1.71487303e-02 3.31749512e-04 9.99852895e-01 -6.61124084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284391418 meters 0.01568462714700013 Centerline is valid? [True, True] Translation: X:301.15, Y:-12.77, Z:-6.61 [[ 9.99026198e-01 4.10845257e-02 1.60846942e-02 3.01152665e+02] [-4.10761757e-02 9.99155657e-01 -8.49289083e-04 -1.27681490e+01] [-1.61060058e-02 1.87764318e-04 9.99870272e-01 -6.61278454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344391418 meters 0.015306094579006557 Centerline is valid? [True, True] Translation: X:301.21, Y:-12.77, Z:-6.61 [[ 9.98969574e-01 4.26156794e-02 1.56107018e-02 3.01210536e+02] [-4.26080047e-02 9.99091527e-01 -8.24040616e-04 -1.27699774e+01] [-1.56316369e-02 1.58050648e-04 9.99877806e-01 -6.61497815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404391418 meters 0.016256589798420488 Centerline is valid? [True, True] Translation: X:301.27, Y:-12.78, Z:-6.62 [[ 9.99120053e-01 3.88600831e-02 1.57801346e-02 3.01269509e+02] [-3.88517988e-02 9.99244638e-01 -8.31322213e-04 -1.27751804e+01] [-1.58005201e-02 2.17504081e-04 9.99875140e-01 -6.61574121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464391418 meters 0.019271121069863142 Centerline is valid? [True, True] Translation: X:301.33, Y:-12.78, Z:-6.62 [[ 9.99423601e-01 3.07096009e-02 1.44701788e-02 3.01328375e+02] [-3.07017968e-02 9.99528299e-01 -7.61212795e-04 -1.27847393e+01] [-1.44867297e-02 3.16513546e-04 9.99895012e-01 -6.61788256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524391418 meters 0.02367956525166657 Centerline is valid? [True, True] Translation: X:301.39, Y:-12.80, Z:-6.62 [[ 9.99610875e-01 2.42490112e-02 1.37870752e-02 3.01387304e+02] [-2.42413269e-02 9.99705874e-01 -7.24225213e-04 -1.27960284e+01] [-1.38005818e-02 3.89726402e-04 9.99904691e-01 -6.62050881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58439141799994 meters 0.025866199077072438 Centerline is valid? [True, True] Translation: X:301.45, Y:-12.80, Z:-6.62 [[ 9.99783034e-01 1.55090873e-02 1.39051153e-02 3.01447851e+02] [-1.55004326e-02 9.99879595e-01 -7.29971502e-04 -1.28031931e+01] [-1.39147622e-02 5.14277821e-04 9.99903053e-01 -6.62004772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64439141799994 meters 0.025653525853745977 Centerline is valid? [True, True] Translation: X:301.51, Y:-12.81, Z:-6.62 [[ 9.99825781e-01 1.20424558e-02 1.42613777e-02 3.01510169e+02] [-1.20330075e-02 9.99927321e-01 -7.48136777e-04 -1.28057577e+01] [-1.42693506e-02 5.76399172e-04 9.99898021e-01 -6.62025575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70439141799994 meters 0.02996519554229994 Centerline is valid? [True, True] Translation: X:301.57, Y:-12.81, Z:-6.62 [[ 9.99837312e-01 1.09840727e-02 1.43073114e-02 3.01571364e+02] [-1.09744584e-02 9.99939497e-01 -7.50325213e-04 -1.28145363e+01] [-1.43146874e-02 5.93188150e-04 9.99897364e-01 -6.62248889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76439141799995 meters 0.025690412794324415 Centerline is valid? [True, True] Translation: X:301.63, Y:-12.81, Z:-6.62 [[ 9.99810613e-01 1.36673515e-02 1.38543101e-02 3.01633737e+02] [-1.36585481e-02 9.99906451e-01 -7.29853373e-04 -1.28103031e+01] [-1.38629892e-02 5.40485388e-04 9.99903758e-01 -6.62319246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82439141799995 meters 0.024282399831587996 Centerline is valid? [True, True] Translation: X:301.70, Y:-12.81, Z:-6.62 [[ 9.99771444e-01 1.66189857e-02 1.34487909e-02 3.01696339e+02] [-1.66109075e-02 9.99861776e-01 -7.12145201e-04 -1.28092769e+01] [-1.34587671e-02 4.88585813e-04 9.99909307e-01 -6.62393337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88439141799995 meters 0.023571471438300844 Centerline is valid? [True, True] Translation: X:301.76, Y:-12.81, Z:-6.63 [[ 9.99675456e-01 2.22555345e-02 1.23965132e-02 3.01757431e+02] [-2.22490368e-02 9.99752240e-01 -6.61833796e-04 -1.28075526e+01] [-1.24081713e-02 3.85808522e-04 9.99922941e-01 -6.62640960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94439141799995 meters 0.020998308380918998 Centerline is valid? [True, True] Translation: X:301.82, Y:-12.80, Z:-6.63 [[ 9.99595696e-01 2.57430546e-02 1.20722511e-02 3.01817088e+02] [-2.57371317e-02 9.99668537e-01 -6.45746864e-04 -1.28044669e+01] [-1.20848731e-02 3.34780670e-04 9.99926919e-01 -6.62751285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00439141799995 meters 0.018846566096181797 Centerline is valid? [True, True] Translation: X:301.88, Y:-12.80, Z:-6.63 [[ 9.99480889e-01 3.02727472e-02 1.10232685e-02 3.01877277e+02] [-3.02680881e-02 9.99541643e-01 -5.89280924e-04 -1.28010372e+01] [-1.10360551e-02 2.55321759e-04 9.99939068e-01 -6.62951086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06439141799996 meters 0.01841352911443474 Centerline is valid? [True, True] Translation: X:301.94, Y:-12.80, Z:-6.63 [[ 9.99418429e-01 3.25960924e-02 1.00149621e-02 3.01935465e+02] [-3.25923595e-02 9.99468584e-01 -5.35757000e-04 -1.28009946e+01] [-1.00271036e-02 2.09034173e-04 9.99949705e-01 -6.63204575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12439141799996 meters 0.016799047723982722 Centerline is valid? [True, True] Translation: X:301.99, Y:-12.80, Z:-6.63 [[ 9.99314194e-01 3.59785129e-02 8.75723399e-03 3.01994812e+02] [-3.59757959e-02 9.99352552e-01 -4.67638501e-04 -1.27977380e+01] [-8.76838908e-03 1.52269329e-04 9.99961545e-01 -6.63321422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18439141799996 meters 0.015887154991867644 Centerline is valid? [True, True] Translation: X:302.05, Y:-12.80, Z:-6.63 [[ 9.99155366e-01 4.01894704e-02 8.56512562e-03 3.02052593e+02] [-4.01870294e-02 9.99192071e-01 -4.56978786e-04 -1.27963520e+01] [-8.57657134e-03 1.12385851e-04 9.99963214e-01 -6.63451517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24439141799996 meters 0.014705961123883244 Centerline is valid? [True, True] Translation: X:302.11, Y:-12.79, Z:-6.63 [[ 9.99021100e-01 4.33201469e-02 8.95578209e-03 3.02111472e+02] [-4.33176146e-02 9.99061238e-01 -4.76629062e-04 -1.27944092e+01] [-8.96802239e-03 8.82193724e-05 9.99959783e-01 -6.63385865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30439141799997 meters 0.014082333877446594 Centerline is valid? [True, True] Translation: X:302.17, Y:-12.79, Z:-6.64 [[ 9.98761697e-01 4.87718545e-02 9.81724910e-03 3.02169125e+02] [-4.87690821e-02 9.98809944e-01 -5.21735007e-04 -1.27923666e+01] [-9.83101201e-03 4.23107132e-05 9.99951674e-01 -6.63550793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36439141799997 meters 0.014007587497195464 Centerline is valid? [True, True] Translation: X:302.23, Y:-12.79, Z:-6.64 [[ 9.98470419e-01 5.42791323e-02 1.05165777e-02 3.02227718e+02] [-5.42762718e-02 9.98525801e-01 -5.57423593e-04 -1.27908885e+01] [-1.05313307e-02 -1.42296630e-05 9.99944544e-01 -6.63662382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42439141799997 meters 0.014164727412950683 Centerline is valid? [True, True] Translation: X:302.29, Y:-12.79, Z:-6.64 [[ 9.98315743e-01 5.71101884e-02 1.02031135e-02 3.02286232e+02] [-5.71076506e-02 9.98367880e-01 -5.40130558e-04 -1.27921053e+01] [-1.02173077e-02 -4.34550009e-05 9.99947801e-01 -6.63682944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484391418 meters 0.014835065551645855 Centerline is valid? [True, True] Translation: X:302.34, Y:-12.79, Z:-6.64 [[ 9.98162423e-01 5.98519562e-02 9.46155425e-03 3.02344075e+02] [-5.98498952e-02 9.98207263e-01 -5.01083152e-04 -1.27939010e+01] [-9.47458297e-03 -6.61106571e-05 9.99955113e-01 -6.63908525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544391418 meters 0.015153270116557854 Centerline is valid? [True, True] Translation: X:302.40, Y:-12.80, Z:-6.64 [[ 9.98133544e-01 6.04130689e-02 8.92684028e-03 3.02402994e+02] [-6.04112746e-02 9.98173460e-01 -4.70757210e-04 -1.27982081e+01] [-8.93897494e-03 -6.94032372e-05 9.99960044e-01 -6.64069531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604391418 meters 0.014391340489304504 Centerline is valid? [True, True] Translation: X:302.46, Y:-12.81, Z:-6.64 [[ 9.98213918e-01 5.90003781e-02 9.37708462e-03 3.02461286e+02] [-5.89983428e-02 9.98257959e-01 -4.93760584e-04 -1.28071348e+01] [-9.38988141e-03 -6.03537665e-05 9.99955912e-01 -6.64080444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664391418 meters 0.013936123733754727 Centerline is valid? [True, True] Translation: X:302.52, Y:-12.82, Z:-6.64 [[ 9.98434842e-01 5.49949960e-02 1.01693954e-02 3.02518699e+02] [-5.49923964e-02 9.98486630e-01 -5.35283986e-04 -1.28177445e+01] [-1.01834432e-02 -2.47932389e-05 9.99948147e-01 -6.64342051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724391418 meters 0.01371841381549851 Centerline is valid? [True, True] Translation: X:302.58, Y:-12.83, Z:-6.64 [[ 9.98676464e-01 5.03571814e-02 1.04629783e-02 3.02577228e+02] [-5.03542004e-02 9.98731272e-01 -5.48313712e-04 -1.28301459e+01] [-1.04773152e-02 2.07330907e-05 9.99945111e-01 -6.64395130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784391418 meters 0.013787018676110804 Centerline is valid? [True, True] Translation: X:302.64, Y:-12.84, Z:-6.64 [[ 9.98810262e-01 4.76227173e-02 1.04946121e-02 3.02635665e+02] [-4.76195759e-02 9.98865394e-01 -5.49157972e-04 -1.28387091e+01] [-1.05088572e-02 4.87556427e-05 9.99944779e-01 -6.64488746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844391418 meters 0.014063779636151758 Centerline is valid? [True, True] Translation: X:302.69, Y:-12.85, Z:-6.65 [[ 9.98926761e-01 4.48514332e-02 1.15617868e-02 3.02692835e+02] [-4.48474454e-02 9.98993665e-01 -6.04080913e-04 -1.28487204e+01] [-1.15772456e-02 8.49159887e-05 9.99932978e-01 -6.64679469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904391418 meters 0.015032059396183045 Centerline is valid? [True, True] Translation: X:302.75, Y:-12.86, Z:-6.65 [[ 9.99130295e-01 3.96986984e-02 1.27541311e-02 3.02751354e+02] [-3.96934472e-02 9.99211683e-01 -6.64702325e-04 -1.28624123e+01] [-1.27704646e-02 1.57868801e-04 9.99918442e-01 -6.64754583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964391418 meters 0.016110842247648936 Centerline is valid? [True, True] Translation: X:302.81, Y:-12.87, Z:-6.65 [[ 9.99252204e-01 3.64151619e-02 1.29987967e-02 3.02809167e+02] [-3.64094432e-02 9.99336728e-01 -6.76393701e-04 -1.28746262e+01] [-1.30148060e-02 2.02608946e-04 9.99915283e-01 -6.64917465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024391418 meters 0.015386816804398427 Centerline is valid? [True, True] Translation: X:302.87, Y:-12.88, Z:-6.65 [[ 9.99218115e-01 3.72620216e-02 1.32173904e-02 3.02868147e+02] [-3.72561967e-02 9.99305511e-01 -6.86736928e-04 -1.28795523e+01] [-1.32338003e-02 1.93770283e-04 9.99912411e-01 -6.65011137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08439141799994 meters 0.01496788233430072 Centerline is valid? [True, True] Translation: X:302.93, Y:-12.88, Z:-6.65 [[ 9.99158759e-01 3.87591401e-02 1.33979084e-02 3.02927045e+02] [-3.87533043e-02 9.99248567e-01 -6.95014477e-04 -1.28828421e+01] [-1.34147789e-02 1.75216583e-04 9.99910002e-01 -6.65117475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14439141799994 meters 0.013572790487144703 Centerline is valid? [True, True] Translation: X:302.99, Y:-12.88, Z:-6.65 [[ 9.98829076e-01 4.66025017e-02 1.29878600e-02 3.02985610e+02] [-4.65976932e-02 9.98913511e-01 -6.72758049e-04 -1.28841188e+01] [-1.30051010e-02 6.67659860e-05 9.99915428e-01 -6.65226718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20439141799994 meters 0.013380521569244788 Centerline is valid? [True, True] Translation: X:303.04, Y:-12.89, Z:-6.65 [[ 9.98399154e-01 5.46823775e-02 1.44557166e-02 3.03044295e+02] [-5.46772873e-02 9.98503799e-01 -7.47400822e-04 -1.28856719e+01] [-1.44749576e-02 -4.41950248e-05 9.99895231e-01 -6.65276308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26439141799995 meters 0.01381599021585782 Centerline is valid? [True, True] Translation: X:303.10, Y:-12.89, Z:-6.65 [[ 9.98230187e-01 5.77157369e-02 1.43313162e-02 3.03102608e+02] [-5.77110633e-02 9.98333054e-01 -7.39798991e-04 -1.28900651e+01] [-1.43501247e-02 -8.85858134e-05 9.99897028e-01 -6.65490139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32439141799995 meters 0.014020290170965545 Centerline is valid? [True, True] Translation: X:303.16, Y:-12.90, Z:-6.66 [[ 9.98208269e-01 5.82993004e-02 1.34701247e-02 3.03159693e+02] [-5.82952360e-02 9.98299145e-01 -6.94514302e-04 -1.28979432e+01] [-1.34877037e-02 -9.19741792e-05 9.99909033e-01 -6.65779543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38439141799995 meters 0.013426699650662295 Centerline is valid? [True, True] Translation: X:303.22, Y:-12.91, Z:-6.66 [[ 9.98430764e-01 5.43423567e-02 1.35247244e-02 3.03218199e+02] [-5.43379168e-02 9.98522362e-01 -6.95803146e-04 -1.29104031e+01] [-1.35425514e-02 -4.01940850e-05 9.99908295e-01 -6.65928888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44439141799995 meters 0.013231117116029277 Centerline is valid? [True, True] Translation: X:303.28, Y:-12.92, Z:-6.66 [[ 9.98670031e-01 4.96610720e-02 1.38545278e-02 3.03276977e+02] [-4.96559783e-02 9.98766127e-01 -7.11625260e-04 -1.29212229e+01] [-1.38727731e-02 2.27186904e-05 9.99903768e-01 -6.65955088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50439141799995 meters 0.01437636329514302 Centerline is valid? [True, True] Translation: X:303.33, Y:-12.94, Z:-6.66 [[ 9.99046979e-01 4.10578046e-02 1.48118634e-02 3.03334150e+02] [-4.10510542e-02 9.99156761e-01 -7.59620377e-04 -1.29374623e+01] [-1.48305618e-02 1.50853837e-04 9.99890010e-01 -6.65960462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56439141799996 meters 0.016452057341692673 Centerline is valid? [True, True] Translation: X:303.39, Y:-12.95, Z:-6.66 [[ 9.99283113e-01 3.47257143e-02 1.50792943e-02 3.03392060e+02] [-3.47180243e-02 9.99396850e-01 -7.71524204e-04 -1.29497955e+01] [-1.50969910e-02 2.47447801e-04 9.99886003e-01 -6.66107632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62439141799996 meters 0.019188969692795696 Centerline is valid? [True, True] Translation: X:303.45, Y:-12.96, Z:-6.66 [[ 9.99565218e-01 2.52136870e-02 1.52854816e-02 3.03452091e+02] [-2.52046928e-02 9.99682006e-01 -7.80805303e-04 -1.29639976e+01] [-1.53003079e-02 3.95199956e-04 9.99882865e-01 -6.66191745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68439141799996 meters 0.023918709219705108 Centerline is valid? [True, True] Translation: X:303.51, Y:-12.98, Z:-6.66 [[ 9.99722318e-01 1.80908638e-02 1.50999286e-02 3.03510907e+02] [-1.80812748e-02 9.99836223e-01 -7.71326981e-04 -1.29802512e+01] [-1.51114096e-02 4.98086837e-04 9.99885692e-01 -6.66376745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74439141799996 meters 0.02399538973649056 Centerline is valid? [True, True] Translation: X:303.57, Y:-12.99, Z:-6.66 [[ 9.99758086e-01 1.60549577e-02 1.50335549e-02 3.03573138e+02] [-1.60452525e-02 9.99870973e-01 -7.65972520e-04 -1.29859007e+01] [-1.50439128e-02 5.24570036e-04 9.99886696e-01 -6.66481835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80439141799997 meters 0.024355991103690116 Centerline is valid? [True, True] Translation: X:303.63, Y:-12.99, Z:-6.67 [[ 9.99732420e-01 1.77694214e-02 1.48100278e-02 3.03634146e+02] [-1.77601275e-02 9.99841989e-01 -7.58840158e-04 -1.29917279e+01] [-1.48211718e-02 4.95609126e-04 9.99890038e-01 -6.66667854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86439141799997 meters 0.020897248537286143 Centerline is valid? [True, True] Translation: X:303.69, Y:-12.99, Z:-6.67 [[ 9.99608950e-01 2.34152015e-02 1.52864306e-02 3.03694658e+02] [-2.34058706e-02 9.99725734e-01 -7.89054442e-04 -1.29913235e+01] [-1.53007139e-02 4.30953668e-04 9.99882844e-01 -6.66759310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92439141799997 meters 0.017900121239837204 Centerline is valid? [True, True] Translation: X:303.76, Y:-12.99, Z:-6.67 [[ 9.99471259e-01 2.84404082e-02 1.57590103e-02 3.03756615e+02] [-2.84311215e-02 9.99595423e-01 -8.13065645e-04 -1.29898754e+01] [-1.57757584e-02 3.64589408e-04 9.99875489e-01 -6.66841883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984391418 meters 0.015749060982925788 Centerline is valid? [True, True] Translation: X:303.82, Y:-12.99, Z:-6.67 [[ 9.99269110e-01 3.54733685e-02 1.42437906e-02 3.03816784e+02] [-3.54664918e-02 9.99370596e-01 -7.35175905e-04 -1.29887586e+01] [-1.42609047e-02 2.29461289e-04 9.99898282e-01 -6.67113464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044391418 meters 0.014713160059027704 Centerline is valid? [True, True] Translation: X:303.88, Y:-12.99, Z:-6.67 [[ 9.99110207e-01 4.00160759e-02 1.33231991e-02 3.03875924e+02] [-4.00104258e-02 9.99199024e-01 -6.90460194e-04 -1.29893193e+01] [-1.33401571e-02 1.56778957e-04 9.99911004e-01 -6.67351543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104391418 meters 0.013706878414681257 Centerline is valid? [True, True] Translation: X:303.93, Y:-12.99, Z:-6.67 [[ 9.99046732e-01 4.14483878e-02 1.36988329e-02 3.03934792e+02] [-4.14425519e-02 9.99140636e-01 -7.09733790e-04 -1.29905130e+01] [-1.37164779e-02 1.41342632e-04 9.99905915e-01 -6.67248064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164391418 meters 0.013887643015316609 Centerline is valid? [True, True] Translation: X:303.99, Y:-13.00, Z:-6.67 [[ 9.99014196e-01 4.17382091e-02 1.51181332e-02 3.03991989e+02] [-4.17311534e-02 9.99128570e-01 -7.82011375e-04 -1.29959327e+01] [-1.51375985e-02 1.50343330e-04 9.99885409e-01 -6.67255196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224391418 meters 0.014338023843605685 Centerline is valid? [True, True] Translation: X:304.05, Y:-13.00, Z:-6.67 [[ 9.99042426e-01 4.10779628e-02 1.50609386e-02 3.04050893e+02] [-4.10709143e-02 9.99155932e-01 -7.77135168e-04 -1.30013665e+01] [-1.50801492e-02 1.57824488e-04 9.99886276e-01 -6.67456310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284391418 meters 0.015499740193472755 Centerline is valid? [True, True] Translation: X:304.11, Y:-13.01, Z:-6.68 [[ 9.99169332e-01 3.82010425e-02 1.41889811e-02 3.04110063e+02] [-3.81945132e-02 9.99270056e-01 -7.30971752e-04 -1.30092808e+01] [-1.42065478e-02 1.88423332e-04 9.99899064e-01 -6.67706417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344391418 meters 0.016361817646396503 Centerline is valid? [True, True] Translation: X:304.17, Y:-13.02, Z:-6.68 [[ 9.99245625e-01 3.63022445e-02 1.37959329e-02 3.04169139e+02] [-3.62958925e-02 9.99340834e-01 -7.10609592e-04 -1.30163155e+01] [-1.38126358e-02 2.09337828e-04 9.99904579e-01 -6.67898083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404391418 meters 0.015827968726800028 Centerline is valid? [True, True] Translation: X:304.23, Y:-13.02, Z:-6.68 [[ 9.99272391e-01 3.57390972e-02 1.33193846e-02 3.04228831e+02] [-3.57331361e-02 9.99361133e-01 -6.85345477e-04 -1.30205930e+01] [-1.33353689e-02 2.08903432e-04 9.99911058e-01 -6.67842703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464391418 meters 0.015028426962087966 Centerline is valid? [True, True] Translation: X:304.29, Y:-13.02, Z:-6.68 [[ 9.99095824e-01 4.03981038e-02 1.32486609e-02 3.04288601e+02] [-4.03926189e-02 9.99183653e-01 -6.81429392e-04 -1.30219663e+01] [-1.32653738e-02 1.45665150e-04 9.99912000e-01 -6.67945701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52439141799994 meters 0.013503930335383885 Centerline is valid? [True, True] Translation: X:304.35, Y:-13.02, Z:-6.68 [[ 9.98874336e-01 4.57617798e-02 1.24868258e-02 3.04347693e+02] [-4.57573216e-02 9.98952379e-01 -6.42642354e-04 -1.30203638e+01] [-1.25031528e-02 7.05552523e-05 9.99921830e-01 -6.68096898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58439141799994 meters 0.013461898076176284 Centerline is valid? [True, True] Translation: X:304.41, Y:-13.02, Z:-6.68 [[ 9.98490777e-01 5.38066752e-02 1.10004337e-02 3.04406681e+02] [-5.38037114e-02 9.98551371e-01 -5.65411128e-04 -1.30175195e+01] [-1.10149211e-02 -2.73063656e-05 9.99939334e-01 -6.68387268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64439141799994 meters 0.014508578832202456 Centerline is valid? [True, True] Translation: X:304.46, Y:-13.02, Z:-6.69 [[ 9.98285859e-01 5.77408966e-02 9.55680130e-03 3.04464231e+02] [-5.77388428e-02 9.98331601e-01 -4.90891612e-04 -1.30171231e+01] [-9.56920126e-03 -6.17484935e-05 9.99954212e-01 -6.68623357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70439141799994 meters 0.01495917005180879 Centerline is valid? [True, True] Translation: X:304.52, Y:-13.02, Z:-6.69 [[ 9.98181457e-01 5.97131229e-02 8.25365305e-03 3.04523281e+02] [-5.97116650e-02 9.98215577e-01 -4.23161592e-04 -1.30206095e+01] [-8.26419334e-03 -7.04473125e-05 9.99965848e-01 -6.68639238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76439141799995 meters 0.014214527360625296 Centerline is valid? [True, True] Translation: X:304.58, Y:-13.03, Z:-6.69 [[ 9.98356716e-01 5.67054015e-02 8.26829336e-03 3.04582113e+02] [-5.67038411e-02 9.98390953e-01 -4.23211197e-04 -1.30297173e+01] [-8.27898765e-03 -4.63282514e-05 9.99965728e-01 -6.68575899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82439141799995 meters 0.01343901231950027 Centerline is valid? [True, True] Translation: X:304.64, Y:-13.04, Z:-6.69 [[ 9.98618496e-01 5.18195800e-02 8.70811720e-03 3.04640929e+02] [-5.18176710e-02 9.98656463e-01 -4.44851446e-04 -1.30391798e+01] [-8.71946954e-03 -6.99747055e-06 9.99961985e-01 -6.68613874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88439141799995 meters 0.01424317196945303 Centerline is valid? [True, True] Translation: X:304.70, Y:-13.06, Z:-6.69 [[ 9.99074606e-01 4.20706378e-02 8.94385325e-03 3.04699329e+02] [-4.20682409e-02 9.99114636e-01 -4.56040989e-04 -1.30552673e+01] [-8.95512062e-03 7.93667979e-05 9.99959899e-01 -6.68718388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94439141799995 meters 0.01824970611210037 Centerline is valid? [True, True] Translation: X:304.76, Y:-13.07, Z:-6.69 [[ 9.99483717e-01 3.09698488e-02 8.55384108e-03 3.04758113e+02] [-3.09672605e-02 9.99520305e-01 -4.34900320e-04 -1.30717016e+01] [-8.56320664e-03 1.69786763e-04 9.99963321e-01 -6.68855462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00439141799995 meters 0.02057902765452485 Centerline is valid? [True, True] Translation: X:304.82, Y:-13.08, Z:-6.69 [[ 9.99580987e-01 2.76325021e-02 8.61951143e-03 3.04816795e+02] [-2.76297655e-02 9.99618130e-01 -4.36431809e-04 -1.30799871e+01] [-8.62827960e-03 1.98093859e-04 9.99962756e-01 -6.69042882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06439141799996 meters 0.024126647192862092 Centerline is valid? [True, True] Translation: X:304.88, Y:-13.09, Z:-6.69 [[ 9.99742276e-01 2.08760118e-02 8.92043066e-03 3.04876849e+02] [-2.08727991e-02 9.99782037e-01 -4.53104792e-04 -1.30910675e+01] [-8.92794535e-03 2.66793658e-04 9.99960110e-01 -6.69130468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12439141799996 meters 0.030415428459122748 Centerline is valid? [True, True] Translation: X:304.94, Y:-13.11, Z:-6.69 [[ 9.99864531e-01 1.34979625e-02 9.41940655e-03 3.04936498e+02] [-1.34940557e-02 9.99908837e-01 -4.78190657e-04 -1.31055938e+01] [-9.42500245e-03 3.51019880e-04 9.99955522e-01 -6.69308685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18439141799996 meters 0.028905099577886142 Centerline is valid? [True, True] Translation: X:305.00, Y:-13.11, Z:-6.69 [[ 9.99872091e-01 1.26555175e-02 9.77955158e-03 3.04999134e+02] [-1.26512967e-02 9.99919847e-01 -4.93339100e-04 -1.31067482e+01] [-9.78501119e-03 3.69551989e-04 9.99952057e-01 -6.69316660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24439141799996 meters 0.02638718835232375 Centerline is valid? [True, True] Translation: X:305.06, Y:-13.11, Z:-6.69 [[ 9.99832440e-01 1.53591434e-02 9.95936530e-03 3.05061851e+02] [-1.53548470e-02 9.99881978e-01 -5.07719325e-04 -1.31051346e+01] [-9.96598801e-03 3.54709720e-04 9.99950275e-01 -6.69402370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30439141799997 meters 0.020465605006943017 Centerline is valid? [True, True] Translation: X:305.12, Y:-13.10, Z:-6.69 [[ 9.99686455e-01 2.30139236e-02 9.86663390e-03 3.05123019e+02] [-2.30100586e-02 9.99735106e-01 -5.05075022e-04 -1.30972606e+01] [-9.87564405e-03 2.77884834e-04 9.99951196e-01 -6.69412938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36439141799997 meters 0.016978251354906 Centerline is valid? [True, True] Translation: X:305.18, Y:-13.09, Z:-6.70 [[ 9.99430440e-01 3.22058432e-02 1.00786308e-02 3.05184538e+02] [-3.22022749e-02 9.99481239e-01 -5.16173009e-04 -1.30908290e+01] [-1.00900262e-02 1.91324177e-04 9.99949076e-01 -6.69535958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42439141799997 meters 0.015472411522119879 Centerline is valid? [True, True] Translation: X:305.24, Y:-13.09, Z:-6.70 [[ 9.99163202e-01 3.97348393e-02 9.69738653e-03 3.05243379e+02] [-3.97318789e-02 9.99210253e-01 -4.97821197e-04 -1.30869074e+01] [-9.70950890e-03 1.12109233e-04 9.99952855e-01 -6.69890013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484391418 meters 0.014686905502880992 Centerline is valid? [True, True] Translation: X:305.30, Y:-13.09, Z:-6.70 [[ 9.99050822e-01 4.23637235e-02 1.01375609e-02 3.05302146e+02] [-4.23606280e-02 9.99102250e-01 -5.19977957e-04 -1.30860597e+01] [-1.01504881e-02 9.00509593e-05 9.99948478e-01 -6.70060540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544391418 meters 0.01661764287365539 Centerline is valid? [True, True] Translation: X:305.36, Y:-13.09, Z:-6.70 [[ 9.98976505e-01 4.41203912e-02 9.96663536e-03 3.05361447e+02] [-4.41174945e-02 9.99026219e-01 -5.10411612e-04 -1.30864868e+01] [-9.97944960e-03 7.01862278e-05 9.99950202e-01 -6.70198602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604391418 meters 0.01445853666891241 Centerline is valid? [True, True] Translation: X:305.42, Y:-13.09, Z:-6.70 [[ 9.99024826e-01 4.25851393e-02 1.16577480e-02 3.05420687e+02] [-4.25810862e-02 9.99092837e-01 -5.95773180e-04 -1.30884222e+01] [-1.16725436e-02 9.87926244e-05 9.99931869e-01 -6.70151711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664391418 meters 0.015766721031563992 Centerline is valid? [True, True] Translation: X:305.48, Y:-13.09, Z:-6.70 [[ 9.99194170e-01 3.80094586e-02 1.28953764e-02 3.05479822e+02] [-3.80041387e-02 9.99277366e-01 -6.57432901e-04 -1.30946127e+01] [-1.29110464e-02 1.66825449e-04 9.99916635e-01 -6.70116552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724391418 meters 0.017625453904629242 Centerline is valid? [True, True] Translation: X:305.54, Y:-13.10, Z:-6.70 [[ 9.99339592e-01 3.37000100e-02 1.35900535e-02 3.05539277e+02] [-3.36937110e-02 9.99431966e-01 -6.92262860e-04 -1.30998811e+01] [-1.36056631e-02 2.33906350e-04 9.99907411e-01 -6.70111305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784391418 meters 0.021789870492067157 Centerline is valid? [True, True] Translation: X:305.60, Y:-13.11, Z:-6.70 [[ 9.99584944e-01 2.45977251e-02 1.49963942e-02 3.05598466e+02] [-2.45890571e-02 9.99697353e-01 -7.62147472e-04 -1.31110046e+01] [-1.50106027e-02 3.93083945e-04 9.99887257e-01 -6.70251140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844391418 meters 0.027018386214167304 Centerline is valid? [True, True] Translation: X:305.66, Y:-13.12, Z:-6.70 [[ 9.99743288e-01 1.63223625e-02 1.57143020e-02 3.05658740e+02] [-1.63117892e-02 9.99866633e-01 -8.00794393e-04 -1.31214085e+01] [-1.57252771e-02 5.44260438e-04 9.99876202e-01 -6.70403090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904391418 meters 0.02799515200189601 Centerline is valid? [True, True] Translation: X:305.72, Y:-13.13, Z:-6.70 [[ 9.99808279e-01 1.11748409e-02 1.60788270e-02 3.05719459e+02] [-1.11631012e-02 9.99937355e-01 -8.19706758e-04 -1.31251528e+01] [-1.60869798e-02 6.40060031e-04 9.99870391e-01 -6.70459007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964391418 meters 0.028200269971688847 Centerline is valid? [True, True] Translation: X:305.78, Y:-13.13, Z:-6.71 [[ 9.99843451e-01 7.01679299e-03 1.62431126e-02 3.05781003e+02] [-7.00426051e-03 9.99975127e-01 -8.28317460e-04 -1.31270481e+01] [-1.62485207e-02 7.14416795e-04 9.99867729e-01 -6.70519763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02439141799994 meters 0.03536193628735833 Centerline is valid? [True, True] Translation: X:305.84, Y:-13.13, Z:-6.71 [[ 9.99858285e-01 3.38769548e-03 1.64904322e-02 3.05840451e+02] [-3.37427019e-03 9.99993953e-01 -8.41881753e-04 -1.31344319e+01] [-1.64931845e-02 7.86119271e-04 9.99863669e-01 -6.70676182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08439141799994 meters 0.035417013640090124 Centerline is valid? [True, True] Translation: X:305.90, Y:-13.13, Z:-6.71 [[ 9.99844303e-01 3.53639070e-03 1.72876917e-02 3.05903902e+02] [-3.52168229e-03 9.99993411e-01 -8.81171630e-04 -1.31320117e+01] [-1.72906940e-02 8.20152677e-04 9.99850168e-01 -6.70797805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14439141799994 meters 0.028631860607476786 Centerline is valid? [True, True] Translation: X:305.97, Y:-13.12, Z:-6.71 [[ 9.99849350e-01 4.90419105e-03 1.66501382e-02 3.05967431e+02] [-4.89064065e-03 9.99987676e-01 -8.54451180e-04 -1.31182957e+01] [-1.66541234e-02 7.72892614e-04 9.99861012e-01 -6.70879480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20439141799994 meters 0.030126874527105562 Centerline is valid? [True, True] Translation: X:306.03, Y:-13.12, Z:-6.71 [[ 9.99849611e-01 6.04843555e-03 1.62533562e-02 3.06028574e+02] [-6.03566285e-03 9.99981437e-01 -8.34788404e-04 -1.31173847e+01] [-1.62581036e-02 7.36563083e-04 9.99867557e-01 -6.71049545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26439141799995 meters 0.031079967080175387 Centerline is valid? [True, True] Translation: X:306.09, Y:-13.11, Z:-6.71 [[ 9.99836652e-01 7.11666681e-03 1.66139201e-02 3.06090416e+02] [-7.10338415e-03 9.99974402e-01 -8.58365329e-04 -1.31126822e+01] [-1.66196035e-02 7.40210061e-04 9.99861611e-01 -6.71028898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32439141799995 meters 0.030212177999779974 Centerline is valid? [True, True] Translation: X:306.15, Y:-13.11, Z:-6.71 [[ 9.99850745e-01 8.53519433e-03 1.50212321e-02 3.06153019e+02] [-8.52447813e-03 9.99963364e-01 -7.77287728e-04 -1.31058574e+01] [-1.50273161e-02 6.49123549e-04 9.99886873e-01 -6.71141187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38439141799995 meters 0.03134428976004344 Centerline is valid? [True, True] Translation: X:306.22, Y:-13.10, Z:-6.71 [[ 9.99865684e-01 1.03171925e-02 1.27346039e-02 3.06215450e+02] [-1.03096022e-02 9.99946636e-01 -6.61537470e-04 -1.31023591e+01] [-1.27407495e-02 5.30159913e-04 9.99918693e-01 -6.71396051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44439141799995 meters 0.025897791198133943 Centerline is valid? [True, True] Translation: X:306.28, Y:-13.09, Z:-6.71 [[ 9.99863393e-01 1.23708340e-02 1.09616940e-02 3.06278669e+02] [-1.23653122e-02 9.99923383e-01 -5.71376752e-04 -1.30905775e+01] [-1.09679226e-02 4.35753930e-04 9.99939756e-01 -6.71427652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50439141799995 meters 0.025361475599589258 Centerline is valid? [True, True] Translation: X:306.34, Y:-13.09, Z:-6.72 [[ 9.99829920e-01 1.55014643e-02 9.99175163e-03 3.06339496e+02] [-1.54969893e-02 9.99879777e-01 -5.25137742e-04 -1.30867959e+01] [-9.99869079e-03 3.70206359e-04 9.99949943e-01 -6.71533151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56439141799996 meters 0.022399294647841524 Centerline is valid? [True, True] Translation: X:306.40, Y:-13.08, Z:-6.71 [[ 9.99696975e-01 2.22284634e-02 1.05760444e-02 3.06400662e+02] [-2.22237963e-02 9.99752865e-01 -5.58626842e-04 -1.30752084e+01] [-1.05858481e-02 3.23417709e-04 9.99943916e-01 -6.71446427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62439141799996 meters 0.01755225680901511 Centerline is valid? [True, True] Translation: X:306.46, Y:-13.06, Z:-6.71 [[ 9.99462866e-01 3.07453300e-02 1.13447761e-02 3.06460990e+02] [-3.07405029e-02 9.99527219e-01 -5.99663022e-04 -1.30613022e+01] [-1.13578494e-02 2.50596799e-04 9.99935466e-01 -6.71405018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68439141799996 meters 0.015424166273655327 Centerline is valid? [True, True] Translation: X:306.52, Y:-13.05, Z:-6.72 [[ 9.99188710e-01 3.85905006e-02 1.15193503e-02 3.06521286e+02] [-3.85860505e-02 9.99255096e-01 -6.08403227e-04 -1.30510128e+01] [-1.15342481e-02 1.63423402e-04 9.99933465e-01 -6.71551612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74439141799996 meters 0.014803101156085975 Centerline is valid? [True, True] Translation: X:306.58, Y:-13.05, Z:-6.72 [[ 9.99026968e-01 4.26967714e-02 1.10500451e-02 3.06580713e+02] [-4.26929274e-02 9.99088071e-01 -5.83633863e-04 -1.30458247e+01] [-1.10648876e-02 1.11307194e-04 9.99938776e-01 -6.71748763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80439141799997 meters 0.01444091972268926 Centerline is valid? [True, True] Translation: X:306.64, Y:-13.04, Z:-6.72 [[ 9.98851539e-01 4.66411044e-02 1.09640634e-02 3.06640432e+02] [-4.66375664e-02 9.98911709e-01 -5.78292276e-04 -1.30380916e+01] [-1.09791035e-02 6.62908973e-05 9.99939726e-01 -6.71858414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86439141799997 meters 0.014521223439673547 Centerline is valid? [True, True] Translation: X:306.70, Y:-13.04, Z:-6.72 [[ 9.98803465e-01 4.77824446e-02 1.04152071e-02 3.06698037e+02] [-4.77793171e-02 9.98857765e-01 -5.49035852e-04 -1.30364706e+01] [-1.04295447e-02 5.07474296e-05 9.99945610e-01 -6.72019709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92439141799997 meters 0.014374444023527631 Centerline is valid? [True, True] Translation: X:306.76, Y:-13.04, Z:-6.72 [[ 9.98806161e-01 4.76527287e-02 1.07457311e-02 3.06756454e+02] [-4.76494070e-02 9.98863962e-01 -5.65066442e-04 -1.30369042e+01] [-1.07604505e-02 5.23641282e-05 9.99942103e-01 -6.72154433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984391418 meters 0.01449630652725168 Centerline is valid? [True, True] Translation: X:306.81, Y:-13.04, Z:-6.72 [[ 9.98851476e-01 4.65424495e-02 1.13810650e-02 3.06814147e+02] [-4.65386690e-02 9.98916311e-01 -5.96933825e-04 -1.30383231e+01] [-1.13965142e-02 6.65886175e-05 9.99935055e-01 -6.72229627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044391418 meters 0.014710469020000151 Centerline is valid? [True, True] Translation: X:306.87, Y:-13.04, Z:-6.72 [[ 9.98931593e-01 4.44742892e-02 1.25582782e-02 3.06870952e+02] [-4.44695382e-02 9.99010524e-01 -6.57441564e-04 -1.30414912e+01] [-1.25750913e-02 9.82783160e-05 9.99920926e-01 -6.72329641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104391418 meters 0.014897687972685298 Centerline is valid? [True, True] Translation: X:306.93, Y:-13.05, Z:-6.72 [[ 9.99004630e-01 4.26617498e-02 1.30278128e-02 3.06930045e+02] [-4.26565260e-02 9.99089566e-01 -6.78709301e-04 -1.30454984e+01] [-1.30449068e-02 1.22312497e-04 9.99914904e-01 -6.72439396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164391418 meters 0.015500200561903373 Centerline is valid? [True, True] Translation: X:306.99, Y:-13.05, Z:-6.73 [[ 9.99111144e-01 4.01157728e-02 1.29478298e-02 3.06988665e+02] [-4.01104122e-02 9.99195027e-01 -6.73541948e-04 -1.30512158e+01] [-1.29644268e-02 1.53600477e-04 9.99915946e-01 -6.72582417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224391418 meters 0.015449061419041541 Centerline is valid? [True, True] Translation: X:307.05, Y:-13.06, Z:-6.73 [[ 9.99190964e-01 3.79302841e-02 1.33683025e-02 3.07046845e+02] [-3.79243854e-02 9.99280370e-01 -6.94559987e-04 -1.30552409e+01] [-1.33850271e-02 1.87013408e-04 9.99910399e-01 -6.72619539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284391418 meters 0.016749618062380504 Centerline is valid? [True, True] Translation: X:307.10, Y:-13.06, Z:-6.73 [[ 9.99200823e-01 3.74216867e-02 1.40475027e-02 3.07104042e+02] [-3.74151433e-02 9.99299543e-01 -7.28413149e-04 -1.30612106e+01] [-1.40649215e-02 2.02241690e-04 9.99901064e-01 -6.72863948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344391418 meters 0.01542606115557598 Centerline is valid? [True, True] Translation: X:307.16, Y:-13.06, Z:-6.73 [[ 9.99098479e-01 3.99456731e-02 1.43726300e-02 3.07163096e+02] [-3.99391119e-02 9.99201839e-01 -7.43359736e-04 -1.30608751e+01] [-1.43908524e-02 1.68659501e-04 9.99896432e-01 -6.72878128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404391418 meters 0.014916997938195281 Centerline is valid? [True, True] Translation: X:307.22, Y:-13.06, Z:-6.73 [[ 9.98800103e-01 4.66117775e-02 1.50232239e-02 3.07222437e+02] [-4.66053846e-02 9.98913078e-01 -7.75543866e-04 -1.30599912e+01] [-1.50430443e-02 7.44501629e-05 9.99886844e-01 -6.73058158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464391418 meters 0.01491222896017646 Centerline is valid? [True, True] Translation: X:307.28, Y:-13.06, Z:-6.73 [[ 9.98507075e-01 5.23970799e-02 1.54326520e-02 3.07280052e+02] [-5.23910341e-02 9.98626329e-01 -7.96058612e-04 -1.30595698e+01] [-1.54531638e-02 -1.36624420e-05 9.99880593e-01 -6.73207612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52439141799994 meters 0.016159291135389015 Centerline is valid? [True, True] Translation: X:307.34, Y:-13.06, Z:-6.73 [[ 9.98055123e-01 6.04700533e-02 1.51441114e-02 3.07339188e+02] [-6.04651893e-02 9.98170002e-01 -7.79265757e-04 -1.30600283e+01] [-1.51635200e-02 -1.37941384e-04 9.99885018e-01 -6.73334649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58439141799994 meters 0.016954883530432795 Centerline is valid? [True, True] Translation: X:307.40, Y:-13.06, Z:-6.73 [[ 9.97871646e-01 6.33567536e-02 1.54304596e-02 3.07398059e+02] [-6.33520686e-02 9.97990925e-01 -7.92731056e-04 -1.30636765e+01] [-1.54496835e-02 -1.86507689e-04 9.99880629e-01 -6.73449958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64439141799994 meters 0.016939424589968485 Centerline is valid? [True, True] Translation: X:307.46, Y:-13.07, Z:-6.74 [[ 9.97935232e-01 6.23021286e-02 1.56114502e-02 3.07456645e+02] [-6.22972241e-02 9.98057320e-01 -8.00742217e-04 -1.30733963e+01] [-1.56310101e-02 -1.73461142e-04 9.99877813e-01 -6.73627667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70439141799994 meters 0.015672684732146912 Centerline is valid? [True, True] Translation: X:307.51, Y:-13.09, Z:-6.74 [[ 9.98355013e-01 5.52960171e-02 1.51531748e-02 3.07514835e+02] [-5.52906067e-02 9.98470003e-01 -7.76070605e-04 -1.30898638e+01] [-1.51729041e-02 -6.30342498e-05 9.99884883e-01 -6.73862676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76439141799995 meters 0.015304661294447701 Centerline is valid? [True, True] Translation: X:307.57, Y:-13.10, Z:-6.74 [[ 9.98748632e-01 4.77528480e-02 1.48605669e-02 3.07571696e+02] [-4.77468221e-02 9.98859181e-01 -7.60225949e-04 -1.31039666e+01] [-1.48799166e-02 4.97297823e-05 9.99889287e-01 -6.74000476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82439141799995 meters 0.017609816838592363 Centerline is valid? [True, True] Translation: X:307.63, Y:-13.12, Z:-6.74 [[ 9.99300862e-01 3.42517375e-02 1.49868375e-02 3.07630532e+02] [-3.42441247e-02 9.99413206e-01 -7.64366295e-04 -1.31249521e+01] [-1.50042242e-02 2.50620765e-04 9.99887399e-01 -6.74046826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88439141799995 meters 0.024186455680488474 Centerline is valid? [True, True] Translation: X:307.69, Y:-13.15, Z:-6.74 [[ 9.99712271e-01 1.91776997e-02 1.44080329e-02 3.07688864e+02] [-1.91691088e-02 9.99815986e-01 -7.34135038e-04 -1.31490316e+01] [-1.44194606e-02 4.57734657e-04 9.99895929e-01 -6.74226546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94439141799995 meters 0.030023873005274475 Centerline is valid? [True, True] Translation: X:307.75, Y:-13.17, Z:-6.74 [[ 9.99856426e-01 8.75947182e-03 1.45051259e-02 3.07748746e+02] [-8.74967630e-03 9.99961448e-01 -7.38638989e-04 -1.31653202e+01] [-1.45110368e-02 6.11617783e-04 9.99894522e-01 -6.74334393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00439141799995 meters 0.03564546688763778 Centerline is valid? [True, True] Translation: X:307.81, Y:-13.18, Z:-6.74 [[ 9.99885996e-01 -4.09221569e-03 1.45344001e-02 3.07808200e+02] [ 4.10340745e-03 9.99991307e-01 -7.40280314e-04 -1.31814474e+01] [-1.45312443e-02 7.99836485e-04 9.99894096e-01 -6.74446645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06439141799996 meters 0.041457320683428105 Centerline is valid? [True, True] Translation: X:307.87, Y:-13.20, Z:-6.75 [[ 9.99835646e-01 -1.07385197e-02 1.46069922e-02 3.07867194e+02] [ 1.07505340e-02 9.99941934e-01 -7.44227936e-04 -1.31952248e+01] [-1.45981521e-02 9.01138584e-04 9.99893035e-01 -6.74692209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12439141799996 meters 0.04235636231070878 Centerline is valid? [True, True] Translation: X:307.93, Y:-13.20, Z:-6.75 [[ 9.99825122e-01 -1.16553655e-02 1.46245443e-02 3.07928969e+02] [ 1.16674927e-02 9.99931656e-01 -7.44187854e-04 -1.32002241e+01] [-1.46148710e-02 9.14689476e-04 9.99892779e-01 -6.74855278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18439141799996 meters 0.04213555319602151 Centerline is valid? [True, True] Translation: X:307.99, Y:-13.20, Z:-6.75 [[ 9.99841186e-01 -9.54925867e-03 1.50470458e-02 3.07990770e+02] [ 9.56187976e-03 9.99953990e-01 -7.67053486e-04 -1.32021427e+01] [-1.50390287e-02 9.10809710e-04 9.99886493e-01 -6.75022361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24439141799996 meters 0.04051661420365038 Centerline is valid? [True, True] Translation: X:308.05, Y:-13.20, Z:-6.75 [[ 9.99884717e-01 -6.42194349e-03 1.37590481e-02 3.08051160e+02] [ 6.43221714e-03 9.99979066e-01 -7.02559915e-04 -1.32016693e+01] [-1.37542482e-02 7.90980107e-04 9.99905093e-01 -6.75330733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30439141799997 meters 0.03299045809396341 Centerline is valid? [True, True] Translation: X:308.11, Y:-13.19, Z:-6.76 [[ 9.99916777e-01 -3.47865738e-04 1.28964003e-02 3.08112346e+02] [ 3.56387508e-04 9.99999720e-01 -6.58494470e-04 -1.31911203e+01] [-1.28961677e-02 6.63035785e-04 9.99916621e-01 -6.75550741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36439141799997 meters 0.029368297176624678 Centerline is valid? [True, True] Translation: X:308.17, Y:-13.18, Z:-6.76 [[ 9.99889163e-01 7.41994496e-03 1.29075613e-02 3.08173468e+02] [-7.41205355e-03 9.99972313e-01 -6.59110384e-04 -1.31830876e+01] [-1.29120945e-02 5.63365795e-04 9.99916477e-01 -6.75652716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42439141799997 meters 0.02575137201712972 Centerline is valid? [True, True] Translation: X:308.23, Y:-13.18, Z:-6.76 [[ 9.99799553e-01 1.43291774e-02 1.39831240e-02 3.08234894e+02] [-1.43205914e-02 9.99897200e-01 -7.13965720e-04 -1.31769672e+01] [-1.39919170e-02 5.13576003e-04 9.99901976e-01 -6.75754625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484391418 meters 0.019411896601108352 Centerline is valid? [True, True] Translation: X:308.30, Y:-13.16, Z:-6.76 [[ 9.99544478e-01 2.62035051e-02 1.49737059e-02 3.08296504e+02] [-2.61949877e-02 9.99656560e-01 -7.64709211e-04 -1.31637580e+01] [-1.49886014e-02 3.72124828e-04 9.99887595e-01 -6.75784806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544391418 meters 0.01507592629184909 Centerline is valid? [True, True] Translation: X:308.36, Y:-13.15, Z:-6.76 [[ 9.99068407e-01 3.98504519e-02 1.65608098e-02 3.08356701e+02] [-3.98419032e-02 9.99205638e-01 -8.45944290e-04 -1.31524518e+01] [-1.65813657e-02 1.85342035e-04 9.99862503e-01 -6.75866206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604391418 meters 0.013607899171157326 Centerline is valid? [True, True] Translation: X:308.42, Y:-13.15, Z:-6.76 [[ 9.98714925e-01 4.76558787e-02 1.72457686e-02 3.08415605e+02] [-4.76477785e-02 9.98863811e-01 -8.80510237e-04 -1.31464053e+01] [-1.72681356e-02 5.76561544e-05 9.99850893e-01 -6.75981459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664391418 meters 0.013808419600041383 Centerline is valid? [True, True] Translation: X:308.47, Y:-13.14, Z:-6.76 [[ 9.98277690e-01 5.59615783e-02 1.76055519e-02 3.08473974e+02] [-5.59544514e-02 9.98432919e-01 -8.97531356e-04 -1.31404904e+01] [-1.76281898e-02 -8.91234666e-05 9.99844607e-01 -6.76183150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724391418 meters 0.014164195603273116 Centerline is valid? [True, True] Translation: X:308.53, Y:-13.14, Z:-6.76 [[ 9.98157616e-01 5.80228846e-02 1.77403274e-02 3.08531593e+02] [-5.80160046e-02 9.98315245e-01 -9.02653354e-04 -1.31408436e+01] [-1.77628138e-02 -1.28232595e-04 9.99842221e-01 -6.76365120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784391418 meters 0.013506124571063259 Centerline is valid? [True, True] Translation: X:308.59, Y:-13.15, Z:-6.76 [[ 9.98291107e-01 5.55327501e-02 1.81928512e-02 3.08589901e+02] [-5.55251346e-02 9.98456862e-01 -9.23842151e-04 -1.31462533e+01] [-1.82160806e-02 -8.78971075e-05 9.99834070e-01 -6.76485582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844391418 meters 0.013099595946752285 Centerline is valid? [True, True] Translation: X:308.65, Y:-13.15, Z:-6.77 [[ 9.98549568e-01 5.05119428e-02 1.86360808e-02 3.08648005e+02] [-5.05031048e-02 9.98723457e-01 -9.44870026e-04 -1.31543987e+01] [-1.86600182e-02 2.31961675e-06 9.99825887e-01 -6.76632276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904391418 meters 0.013814926472142861 Centerline is valid? [True, True] Translation: X:308.71, Y:-13.17, Z:-6.77 [[ 9.98854278e-01 4.36310670e-02 1.96586054e-02 3.08705707e+02] [-4.36199309e-02 9.99047702e-01 -9.95115061e-04 -1.31650782e+01] [-1.96833025e-02 1.36467926e-04 9.99806256e-01 -6.76760021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964391418 meters 0.016388284904404284 Centerline is valid? [True, True] Translation: X:308.76, Y:-13.18, Z:-6.77 [[ 9.99191981e-01 3.45293024e-02 2.05697055e-02 3.08764184e+02] [-3.45152253e-02 9.99403632e-01 -1.03909160e-03 -1.31783968e+01] [-2.05933175e-02 3.28283968e-04 9.99787881e-01 -6.76831995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02439141799994 meters 0.017956938720980597 Centerline is valid? [True, True] Translation: X:308.82, Y:-13.19, Z:-6.77 [[ 9.99337194e-01 3.02620963e-02 2.02330835e-02 3.08824529e+02] [-3.02476273e-02 9.99541915e-01 -1.02083461e-03 -1.31877142e+01] [-2.02547076e-02 4.08155221e-04 9.99794769e-01 -6.77064294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08439141799994 meters 0.01819456034516986 Centerline is valid? [True, True] Translation: X:308.89, Y:-13.19, Z:-6.77 [[ 9.99341510e-01 2.99128145e-02 2.05370568e-02 3.08885209e+02] [-2.98978349e-02 9.99552423e-01 -1.03611342e-03 -1.31932827e+01] [-2.05588580e-02 4.21417619e-04 9.99788556e-01 -6.77220365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14439141799994 meters 0.0180496488156351 Centerline is valid? [True, True] Translation: X:308.95, Y:-13.20, Z:-6.77 [[ 9.99286413e-01 3.08069379e-02 2.18540063e-02 3.08946755e+02] [-3.07901691e-02 9.99525261e-01 -1.10346011e-03 -1.31985416e+01] [-2.18776256e-02 4.29784149e-04 9.99760564e-01 -6.77308965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20439141799994 meters 0.0184233206428571 Centerline is valid? [True, True] Translation: X:309.01, Y:-13.20, Z:-6.78 [[ 9.99277483e-01 3.14016756e-02 2.14113643e-02 3.09008148e+02] [-3.13857012e-02 9.99506762e-01 -1.08179014e-03 -1.32032345e+01] [-2.14347734e-02 4.08997843e-04 9.99770165e-01 -6.77539342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26439141799995 meters 0.0175595705828455 Centerline is valid? [True, True] Translation: X:309.07, Y:-13.21, Z:-6.78 [[ 9.99297408e-01 3.15132561e-02 2.02880317e-02 3.09069559e+02] [-3.14988347e-02 9.99503258e-01 -1.03007992e-03 -1.32056159e+01] [-2.03104150e-02 3.90306834e-04 9.99793646e-01 -6.77767921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32439141799995 meters 0.018408120059446184 Centerline is valid? [True, True] Translation: X:309.13, Y:-13.21, Z:-6.78 [[ 9.99394059e-01 2.92392863e-02 1.88833233e-02 3.09130808e+02] [-2.92263745e-02 9.99572358e-01 -9.59436380e-04 -1.32111497e+01] [-1.89033013e-02 4.06963938e-04 9.99821234e-01 -6.78008222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38439141799995 meters 0.020622573401021166 Centerline is valid? [True, True] Translation: X:309.19, Y:-13.22, Z:-6.78 [[ 9.99577158e-01 2.28055509e-02 1.80391982e-02 3.09191754e+02] [-2.27927087e-02 9.99739792e-01 -9.17209137e-04 -1.32192308e+01] [-1.80554217e-02 5.05659112e-04 9.99836860e-01 -6.78146412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44439141799995 meters 0.02390326872074257 Centerline is valid? [True, True] Translation: X:309.25, Y:-13.23, Z:-6.78 [[ 9.99706231e-01 1.71837555e-02 1.70929608e-02 3.09251774e+02] [-1.71713918e-02 9.99852182e-01 -8.69836870e-04 -1.32278690e+01] [-1.71053813e-02 5.76071413e-04 9.99853526e-01 -6.78309502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50439141799995 meters 0.030632054066450334 Centerline is valid? [True, True] Translation: X:309.31, Y:-13.24, Z:-6.78 [[ 9.99824066e-01 8.45086379e-03 1.67457683e-02 3.09310925e+02] [-8.43776797e-03 9.99964038e-01 -8.52538100e-04 -1.32413175e+01] [-1.67523708e-02 7.11091202e-04 9.99859416e-01 -6.78467544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56439141799996 meters 0.029696052244525598 Centerline is valid? [True, True] Translation: X:309.37, Y:-13.24, Z:-6.78 [[ 9.99862680e-01 3.24637756e-03 1.62505768e-02 3.09371907e+02] [-3.23335917e-03 9.99994430e-01 -8.27312805e-04 -1.32432121e+01] [-1.62531721e-02 7.74655247e-04 9.99867608e-01 -6.78467022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62439141799996 meters 0.036596147531826134 Centerline is valid? [True, True] Translation: X:309.43, Y:-13.25, Z:-6.79 [[ 9.99879404e-01 -3.55717191e-03 1.51170164e-02 3.09431169e+02] [ 3.56922488e-03 9.99993334e-01 -7.70406453e-04 -1.32548480e+01] [-1.51141752e-02 8.24269576e-04 9.99885435e-01 -6.78585587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68439141799996 meters 0.038737022992244484 Centerline is valid? [True, True] Translation: X:309.49, Y:-13.26, Z:-6.78 [[ 9.99842170e-01 -8.35790455e-03 1.56773855e-02 3.09491398e+02] [ 8.37145855e-03 9.99964639e-01 -7.99130480e-04 -1.32590100e+01] [-1.56701521e-02 9.30246936e-04 9.99876783e-01 -6.78496794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74439141799996 meters 0.03979001572916909 Centerline is valid? [True, True] Translation: X:309.55, Y:-13.26, Z:-6.78 [[ 9.99801391e-01 -1.08942039e-02 1.66881453e-02 3.09552288e+02] [ 1.09099145e-02 9.99940123e-01 -8.50667530e-04 -1.32602416e+01] [-1.66778787e-02 1.03256482e-03 9.99860381e-01 -6.78363522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80439141799997 meters 0.041170116714325966 Centerline is valid? [True, True] Translation: X:309.61, Y:-13.26, Z:-6.79 [[ 9.99798326e-01 -1.18863860e-02 1.61870906e-02 3.09614221e+02] [ 1.19012961e-02 9.99928837e-01 -8.25089887e-04 -1.32629188e+01] [-1.61761313e-02 1.01757085e-03 9.99868640e-01 -6.78507003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86439141799997 meters 0.043520187998792675 Centerline is valid? [True, True] Translation: X:309.67, Y:-13.27, Z:-6.79 [[ 9.99820643e-01 -1.25125511e-02 1.42168113e-02 3.09674968e+02] [ 1.25241304e-02 9.99921307e-01 -7.25736084e-04 -1.32655719e+01] [-1.42066118e-02 9.03659118e-04 9.99898673e-01 -6.78792775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92439141799997 meters 0.04369260200347411 Centerline is valid? [True, True] Translation: X:309.74, Y:-13.26, Z:-6.79 [[ 9.99866498e-01 -1.05468436e-02 1.24800193e-02 3.09736846e+02] [ 1.05556211e-02 9.99944085e-01 -6.37662876e-04 -1.32644663e+01] [-1.24725962e-02 7.69312102e-04 9.99921918e-01 -6.79052224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984391418 meters 0.03896106687202207 Centerline is valid? [True, True] Translation: X:309.80, Y:-13.26, Z:-6.79 [[ 9.99901007e-01 -7.47952056e-03 1.19177363e-02 3.09799153e+02] [ 7.48731503e-03 9.99971784e-01 -6.09538463e-04 -1.32573260e+01] [-1.19128410e-02 6.98709969e-04 9.99928795e-01 -6.79114728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044391418 meters 0.03562907265808678 Centerline is valid? [True, True] Translation: X:309.86, Y:-13.25, Z:-6.79 [[ 9.99924884e-01 1.02462455e-03 1.22138101e-02 3.09860397e+02] [-1.01705636e-03 9.99999287e-01 -6.25837365e-04 -1.32496375e+01] [-1.22144426e-02 6.13368221e-04 9.99925213e-01 -6.79282635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104391418 meters 0.030570709076860058 Centerline is valid? [True, True] Translation: X:309.92, Y:-13.24, Z:-6.79 [[ 9.99827445e-01 1.28069134e-02 1.34559859e-02 3.09920506e+02] [-1.27987856e-02 9.99917854e-01 -6.89968816e-04 -1.32384544e+01] [-1.34637169e-02 5.17629478e-04 9.99909226e-01 -6.79274899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164391418 meters 0.024305693141082125 Centerline is valid? [True, True] Translation: X:309.98, Y:-13.23, Z:-6.79 [[ 9.99663406e-01 2.17358178e-02 1.41643240e-02 3.09982318e+02] [-2.17277099e-02 9.99763662e-01 -7.26070505e-04 -1.32251220e+01] [-1.41767582e-02 4.18067791e-04 9.99899417e-01 -6.79220077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224391418 meters 0.019977058923591546 Centerline is valid? [True, True] Translation: X:310.04, Y:-13.21, Z:-6.79 [[ 9.99334124e-01 3.33777091e-02 1.47390002e-02 3.10042109e+02] [-3.33701890e-02 9.99442774e-01 -7.55923610e-04 -1.32139435e+01] [-1.47560183e-02 2.63577036e-04 9.99891089e-01 -6.79294562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284391418 meters 0.017597475469786978 Centerline is valid? [True, True] Translation: X:310.10, Y:-13.21, Z:-6.79 [[ 9.98997248e-01 4.16413500e-02 1.64467633e-02 3.10102049e+02] [-4.16331127e-02 9.99132610e-01 -8.43065407e-04 -1.32052190e+01] [-1.64676040e-02 1.57490070e-04 9.99864387e-01 -6.79320675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344391418 meters 0.018005933618852926 Centerline is valid? [True, True] Translation: X:310.16, Y:-13.20, Z:-6.79 [[ 9.98789218e-01 4.58731167e-02 1.77695125e-02 3.10161071e+02] [-4.58641887e-02 9.98947270e-01 -9.09849371e-04 -1.31997068e+01] [-1.77925436e-02 9.37634669e-05 9.99841696e-01 -6.79380922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404391418 meters 0.01746058482260442 Centerline is valid? [True, True] Translation: X:310.22, Y:-13.20, Z:-6.80 [[ 9.98780220e-01 4.62315713e-02 1.73411292e-02 3.10220161e+02] [-4.62231458e-02 9.98930746e-01 -8.86579529e-04 -1.32001358e+01] [-1.73635751e-02 8.39365529e-05 9.99849238e-01 -6.79568510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464391418 meters 0.015404251865131093 Centerline is valid? [True, True] Translation: X:310.28, Y:-13.20, Z:-6.80 [[ 9.98817566e-01 4.55638825e-02 1.69529341e-02 3.10277835e+02] [-4.55557536e-02 9.98961423e-01 -8.65573336e-04 -1.32011122e+01] [-1.69747660e-02 9.22461652e-05 9.99855914e-01 -6.79677569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52439141799994 meters 0.017538654954645138 Centerline is valid? [True, True] Translation: X:310.34, Y:-13.20, Z:-6.80 [[ 9.98819625e-01 4.50717170e-02 1.81079053e-02 3.10336469e+02] [-4.50624040e-02 9.98983748e-01 -9.22209799e-04 -1.32040010e+01] [-1.81310687e-02 1.05135501e-04 9.99835613e-01 -6.79770865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58439141799994 meters 0.015395939934089404 Centerline is valid? [True, True] Translation: X:310.40, Y:-13.21, Z:-6.80 [[ 9.98955411e-01 4.18427785e-02 1.83648841e-02 3.10395452e+02] [-4.18326803e-02 9.99124194e-01 -9.33848228e-04 -1.32082495e+01] [-1.83878748e-02 1.64620417e-04 9.99830915e-01 -6.79738259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64439141799994 meters 0.016587292125963153 Centerline is valid? [True, True] Translation: X:310.45, Y:-13.22, Z:-6.80 [[ 9.99187893e-01 3.54368995e-02 1.91776193e-02 3.10453800e+02] [-3.54247395e-02 9.99371873e-01 -9.73521234e-04 -1.32186831e+01] [-1.92000719e-02 2.93368462e-04 9.99815619e-01 -6.79910616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70439141799994 meters 0.017279495511379295 Centerline is valid? [True, True] Translation: X:310.51, Y:-13.23, Z:-6.80 [[ 9.99280488e-01 3.27447469e-02 1.91386662e-02 3.10512795e+02] [-3.27321747e-02 9.99463688e-01 -9.69868889e-04 -1.32252535e+01] [-1.91601600e-02 3.42720892e-04 9.99816369e-01 -6.80087001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76439141799995 meters 0.020517842422272035 Centerline is valid? [True, True] Translation: X:310.57, Y:-13.24, Z:-6.80 [[ 9.99516741e-01 2.44416389e-02 1.92065468e-02 3.10572545e+02] [-2.44274621e-02 9.99701132e-01 -9.72415006e-04 -1.32387703e+01] [-1.92245740e-02 5.02777884e-04 9.99815064e-01 -6.80308421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82439141799995 meters 0.023697565713515303 Centerline is valid? [True, True] Translation: X:310.63, Y:-13.25, Z:-6.81 [[ 9.99688915e-01 1.74498633e-02 1.78206603e-02 3.10632588e+02] [-1.74365504e-02 9.99847565e-01 -9.02164697e-04 -1.32499342e+01] [-1.78336864e-02 5.91153205e-04 9.99840792e-01 -6.80557192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88439141799995 meters 0.024884989798476285 Centerline is valid? [True, True] Translation: X:310.69, Y:-13.26, Z:-6.81 [[ 9.99735518e-01 1.54860819e-02 1.70022116e-02 3.10694284e+02] [-1.54736970e-02 9.99879906e-01 -8.59750079e-04 -1.32563731e+01] [-1.70134839e-02 5.96435620e-04 9.99855082e-01 -6.80766281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94439141799995 meters 0.023959880060654862 Centerline is valid? [True, True] Translation: X:310.76, Y:-13.26, Z:-6.81 [[ 9.99739436e-01 1.56190808e-02 1.66464538e-02 3.10757776e+02] [-1.56071564e-02 9.99877843e-01 -8.46014140e-04 -1.32595027e+01] [-1.66576342e-02 5.85989893e-04 9.99861080e-01 -6.80906749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00439141799995 meters 0.02440118176359984 Centerline is valid? [True, True] Translation: X:310.82, Y:-13.26, Z:-6.81 [[ 9.99727485e-01 1.67019853e-02 1.63094638e-02 3.10818617e+02] [-1.66905824e-02 9.99860354e-01 -8.35032066e-04 -1.32636414e+01] [-1.63211330e-02 5.62590058e-04 9.99866643e-01 -6.81152702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06439141799996 meters 0.023316180289536744 Centerline is valid? [True, True] Translation: X:310.88, Y:-13.27, Z:-6.81 [[ 9.99683197e-01 1.87987091e-02 1.67365980e-02 3.10881058e+02] [-1.87869582e-02 9.99823140e-01 -8.59066415e-04 -1.32653249e+01] [-1.67497873e-02 5.44364492e-04 9.99859564e-01 -6.81284312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12439141799996 meters 0.02194163392839988 Centerline is valid? [True, True] Translation: X:310.94, Y:-13.27, Z:-6.81 [[ 9.99585180e-01 2.30584695e-02 1.72561705e-02 3.10941989e+02] [-2.30465050e-02 9.99733996e-01 -8.91909544e-04 -1.32654169e+01] [-1.72721463e-02 4.93845143e-04 9.99850703e-01 -6.81394142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18439141799996 meters 0.019690797379744468 Centerline is valid? [True, True] Translation: X:311.00, Y:-13.26, Z:-6.81 [[ 9.99418411e-01 2.90273647e-02 1.78955759e-02 3.11003173e+02] [-2.90154384e-02 9.99578535e-01 -9.25782279e-04 -1.32629418e+01] [-1.79149066e-02 4.05995875e-04 9.99839433e-01 -6.81455341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24439141799996 meters 0.017635600640142596 Centerline is valid? [True, True] Translation: X:311.06, Y:-13.26, Z:-6.82 [[ 9.99287067e-01 3.31024815e-02 1.81544514e-02 3.11063526e+02] [-3.30908704e-02 9.99451905e-01 -9.39680343e-04 -1.32621371e+01] [-1.81756068e-02 3.38263816e-04 9.99834753e-01 -6.81609588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30439141799997 meters 0.015674708595065645 Centerline is valid? [True, True] Translation: X:311.12, Y:-13.26, Z:-6.82 [[ 9.99080438e-01 3.93876352e-02 1.69379155e-02 3.11122368e+02] [-3.93784329e-02 9.99223984e-01 -8.76603501e-04 -1.32603603e+01] [-1.69592988e-02 2.08808840e-04 9.99856159e-01 -6.81908699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36439141799997 meters 0.014251701074113454 Centerline is valid? [True, True] Translation: X:311.18, Y:-13.26, Z:-6.82 [[ 9.98813891e-01 4.59873102e-02 1.59993002e-02 3.11181223e+02] [-4.59799576e-02 9.98942020e-01 -8.27301872e-04 -1.32565028e+01] [-1.60204186e-02 9.06734592e-05 9.99871661e-01 -6.82082632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42439141799997 meters 0.013869045067239677 Centerline is valid? [True, True] Translation: X:311.24, Y:-13.25, Z:-6.82 [[ 9.98528514e-01 5.16621527e-02 1.64872567e-02 3.11239982e+02] [-5.16551401e-02 9.98664619e-01 -8.51189510e-04 -1.32549956e+01] [-1.65092142e-02 -1.71455654e-06 9.99863714e-01 -6.82133341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484391418 meters 0.013923443557696535 Centerline is valid? [True, True] Translation: X:311.30, Y:-13.26, Z:-6.82 [[ 9.98409822e-01 5.37236343e-02 1.70762742e-02 3.11298230e+02] [-5.37164337e-02 9.98555842e-01 -8.80395704e-04 -1.32566669e+01] [-1.70989114e-02 -3.82808323e-05 9.99853802e-01 -6.82163224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544391418 meters 0.013783972127049765 Centerline is valid? [True, True] Translation: X:311.36, Y:-13.26, Z:-6.82 [[ 9.98360705e-01 5.42350119e-02 1.82883998e-02 3.11356315e+02] [-5.42268824e-02 9.98528197e-01 -9.40496359e-04 -1.32600989e+01] [-1.83124907e-02 -5.27682969e-05 9.99832311e-01 -6.82187523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604391418 meters 0.01375891379908652 Centerline is valid? [True, True] Translation: X:311.41, Y:-13.27, Z:-6.82 [[ 9.98626597e-01 4.91700184e-02 1.80894734e-02 3.11413967e+02] [-4.91612721e-02 9.98790422e-01 -9.28144066e-04 -1.32703741e+01] [-1.81132297e-02 3.75678254e-05 9.99835941e-01 -6.82427073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664391418 meters 0.014448070177451084 Centerline is valid? [True, True] Translation: X:311.47, Y:-13.28, Z:-6.83 [[ 9.98923170e-01 4.27099303e-02 1.81207763e-02 3.11472731e+02] [-4.27001303e-02 9.99087503e-01 -9.27558259e-04 -1.32808449e+01] [-1.81438571e-02 1.52799927e-04 9.99835375e-01 -6.82593495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724391418 meters 0.01950988214558852 Centerline is valid? [True, True] Translation: X:311.53, Y:-13.30, Z:-6.83 [[ 9.99441382e-01 2.90223592e-02 1.65718333e-02 3.11531452e+02] [-2.90123065e-02 9.99578696e-01 -8.46751304e-04 -1.32996292e+01] [-1.65894263e-02 3.65491187e-04 9.99862319e-01 -6.82926181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784391418 meters 0.023716473486034655 Centerline is valid? [True, True] Translation: X:311.59, Y:-13.31, Z:-6.83 [[ 9.99703881e-01 1.82299663e-02 1.61188815e-02 3.11591209e+02] [-1.82190609e-02 9.99833680e-01 -8.23157591e-04 -1.33148551e+01] [-1.61312068e-02 5.29242953e-04 9.99869744e-01 -6.83048911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844391418 meters 0.03205128599650459 Centerline is valid? [True, True] Translation: X:311.65, Y:-13.34, Z:-6.83 [[ 9.99863338e-01 3.61992741e-03 1.61307514e-02 3.11650853e+02] [-3.60710658e-03 9.99993155e-01 -8.23830027e-04 -1.33350380e+01] [-1.61336232e-02 7.65532101e-04 9.99869552e-01 -6.83282518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904391418 meters 0.0370549132759742 Centerline is valid? [True, True] Translation: X:311.71, Y:-13.35, Z:-6.83 [[ 9.99856322e-01 -5.09976864e-03 1.61656362e-02 3.11710776e+02] [ 5.11377883e-03 9.99986584e-01 -8.25446602e-04 -1.33478975e+01] [-1.61612098e-02 9.07995492e-04 9.99868987e-01 -6.83461141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964391418 meters 0.03830286423078069 Centerline is valid? [True, True] Translation: X:311.77, Y:-13.35, Z:-6.84 [[ 9.99842024e-01 -6.86216539e-03 1.63962655e-02 3.11773029e+02] [ 6.87682202e-03 9.99976004e-01 -8.37686530e-04 -1.33537004e+01] [-1.63901237e-02 9.50308395e-04 9.99865221e-01 -6.83587443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02439141799994 meters 0.039230158844176716 Centerline is valid? [True, True] Translation: X:311.83, Y:-13.36, Z:-6.84 [[ 9.99848696e-01 -4.81242862e-03 1.67160149e-02 3.11833208e+02] [ 4.82740492e-03 9.99987982e-01 -8.55690521e-04 -1.33574044e+01] [-1.67116960e-02 9.36256025e-04 9.99859912e-01 -6.83703202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08439141799994 meters 0.03325581455234448 Centerline is valid? [True, True] Translation: X:311.89, Y:-13.35, Z:-6.84 [[ 9.99868981e-01 1.83140278e-03 1.60831421e-02 3.11894701e+02] [-1.81839147e-03 9.99998008e-01 -8.23589380e-04 -1.33496274e+01] [-1.60846184e-02 7.94236025e-04 9.99870319e-01 -6.83855018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14439141799994 meters 0.03055013456255945 Centerline is valid? [True, True] Translation: X:311.96, Y:-13.35, Z:-6.84 [[ 9.99838221e-01 7.51967941e-03 1.63397218e-02 3.11955969e+02] [-7.50700150e-03 9.99971472e-01 -8.37093063e-04 -1.33463951e+01] [-1.63455503e-02 7.14295323e-04 9.99866147e-01 -6.83986147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20439141799994 meters 0.024231154301672178 Centerline is valid? [True, True] Translation: X:312.02, Y:-13.34, Z:-6.84 [[ 9.99721162e-01 1.54350731e-02 1.78705738e-02 3.12017472e+02] [-1.54211638e-02 9.99880667e-01 -9.15884499e-04 -1.33363423e+01] [-1.78825780e-02 6.40044071e-04 9.99839889e-01 -6.84060009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26439141799995 meters 0.022457623153391653 Centerline is valid? [True, True] Translation: X:312.08, Y:-13.33, Z:-6.84 [[ 9.99621686e-01 2.03882502e-02 1.84608916e-02 3.12079599e+02] [-2.03742533e-02 9.99791976e-01 -9.45971869e-04 -1.33334133e+01] [-1.84763380e-02 5.69487112e-04 9.99829136e-01 -6.84275745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32439141799995 meters 0.01995934119340101 Centerline is valid? [True, True] Translation: X:312.14, Y:-13.33, Z:-6.85 [[ 9.99472320e-01 2.68315803e-02 1.83070615e-02 3.12139327e+02] [-2.68188702e-02 9.99639868e-01 -9.39473237e-04 -1.33281603e+01] [-1.83256761e-02 4.48002789e-04 9.99831970e-01 -6.84598160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38439141799995 meters 0.017506003600139333 Centerline is valid? [True, True] Translation: X:312.20, Y:-13.32, Z:-6.85 [[ 9.99275441e-01 3.31779650e-02 1.86498273e-02 3.12199581e+02] [-3.31658870e-02 9.99449403e-01 -9.56624546e-04 -1.33224306e+01] [-1.86712977e-02 3.37393348e-04 9.99825619e-01 -6.84747888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44439141799995 meters 0.014814916135539051 Centerline is valid? [True, True] Translation: X:312.26, Y:-13.32, Z:-6.85 [[ 9.98996016e-01 3.97491382e-02 2.06631601e-02 3.12259513e+02] [-3.97357150e-02 9.99209662e-01 -1.05995071e-03 -1.33161651e+01] [-2.06889614e-02 2.37821091e-04 9.99785932e-01 -6.84722570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50439141799995 meters 0.013674321160165863 Centerline is valid? [True, True] Translation: X:312.32, Y:-13.31, Z:-6.85 [[ 9.98688864e-01 4.60106048e-02 2.24405240e-02 3.12317379e+02] [-4.59963751e-02 9.98940945e-01 -1.15012700e-03 -1.33134412e+01] [-2.24696763e-02 1.16436272e-04 9.99747518e-01 -6.84783313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56439141799996 meters 0.013344969413164862 Centerline is valid? [True, True] Translation: X:312.38, Y:-13.31, Z:-6.85 [[ 9.98545686e-01 4.87431737e-02 2.30351063e-02 3.12376476e+02] [-4.87289596e-02 9.98811344e-01 -1.17830574e-03 -1.33141416e+01] [-2.30651598e-02 5.41153480e-05 9.99733962e-01 -6.84931836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62439141799996 meters 0.013482521046184102 Centerline is valid? [True, True] Translation: X:312.44, Y:-13.32, Z:-6.85 [[ 9.98510476e-01 4.92605623e-02 2.34569146e-02 3.12435352e+02] [-4.92460103e-02 9.98785961e-01 -1.19797994e-03 -1.33165617e+01] [-2.34874502e-02 4.10360647e-05 9.99724131e-01 -6.85094455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68439141799996 meters 0.013554951860543191 Centerline is valid? [True, True] Translation: X:312.49, Y:-13.32, Z:-6.85 [[ 9.98616974e-01 4.72343585e-02 2.30879590e-02 3.12492436e+02] [-4.72197617e-02 9.98883831e-01 -1.17729971e-03 -1.33233154e+01] [-2.31177980e-02 8.54635501e-05 9.99732744e-01 -6.85326076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74439141799996 meters 0.013904760684586839 Centerline is valid? [True, True] Translation: X:312.55, Y:-13.33, Z:-6.86 [[ 9.98779154e-01 4.35074267e-02 2.33945682e-02 3.12551169e+02] [-4.34914750e-02 9.99053089e-01 -1.19046600e-03 -1.33323732e+01] [-2.34242097e-02 1.71548347e-04 9.99725601e-01 -6.85525495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80439141799997 meters 0.016174701629976806 Centerline is valid? [True, True] Translation: X:312.61, Y:-13.34, Z:-6.86 [[ 9.99069029e-01 3.68703761e-02 2.23975449e-02 3.12608987e+02] [-3.68541242e-02 9.99320008e-01 -1.13808934e-03 -1.33448536e+01] [-2.24242766e-02 3.11587905e-04 9.99748496e-01 -6.85724966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86439141799997 meters 0.01820500261341377 Centerline is valid? [True, True] Translation: X:312.67, Y:-13.36, Z:-6.86 [[ 9.99276952e-01 3.08353918e-02 2.22430118e-02 3.12668441e+02] [-3.08178964e-02 9.99524378e-01 -1.12899316e-03 -1.33559638e+01] [-2.22672455e-02 4.42694009e-04 9.99751956e-01 -6.85957729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92439141799997 meters 0.020687727706907924 Centerline is valid? [True, True] Translation: X:312.73, Y:-13.37, Z:-6.86 [[ 9.99419946e-01 2.53514153e-02 2.27393322e-02 3.12729464e+02] [-2.53317207e-02 9.99678435e-01 -1.15378017e-03 -1.33671410e+01] [-2.27612700e-02 5.77084501e-04 9.99740762e-01 -6.86102559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984391418 meters 0.022828727121663412 Centerline is valid? [True, True] Translation: X:312.79, Y:-13.38, Z:-6.86 [[ 9.99502432e-01 2.19913298e-02 2.26112583e-02 3.12791094e+02] [-2.19709772e-02 9.99757950e-01 -1.14817530e-03 -1.33752964e+01] [-2.26310351e-02 6.50812571e-04 9.99743673e-01 -6.86261156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044391418 meters 0.025241816221867327 Centerline is valid? [True, True] Translation: X:312.85, Y:-13.38, Z:-6.86 [[ 9.99626244e-01 1.61484822e-02 2.20589701e-02 3.12851354e+02] [-1.61276543e-02 9.99869312e-01 -1.12178014e-03 -1.33833287e+01] [-2.20742023e-02 7.65601427e-04 9.99756042e-01 -6.86457341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104391418 meters 0.02945677270249626 Centerline is valid? [True, True] Translation: X:312.91, Y:-13.39, Z:-6.87 [[ 9.99725658e-01 9.58937105e-03 2.13694355e-02 3.12912130e+02] [-9.56830809e-03 9.99953631e-01 -1.08768892e-03 -1.33940683e+01] [-2.13788749e-02 8.82921182e-04 9.99771056e-01 -6.86713680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164391418 meters 0.0335697085161235 Centerline is valid? [True, True] Translation: X:312.97, Y:-13.40, Z:-6.87 [[ 9.99782017e-01 4.98428723e-03 2.02750070e-02 3.12971735e+02] [-4.96437112e-03 9.99987144e-01 -1.03251170e-03 -1.34032940e+01] [-2.02798927e-02 9.31633970e-04 9.99793908e-01 -6.86940946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224391418 meters 0.03574938858997467 Centerline is valid? [True, True] Translation: X:313.03, Y:-13.41, Z:-6.87 [[ 9.99817878e-01 -2.79819249e-03 1.88780522e-02 3.13032510e+02] [ 2.81686940e-03 9.99995569e-01 -9.62826668e-04 -1.34090415e+01] [-1.88752744e-02 1.01582832e-03 9.99821330e-01 -6.87245382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284391418 meters 0.040025929468501226 Centerline is valid? [True, True] Translation: X:313.09, Y:-13.42, Z:-6.88 [[ 9.99809871e-01 -6.80777566e-03 1.82722777e-02 3.13092172e+02] [ 6.82595174e-03 9.99976268e-01 -9.32550903e-04 -1.34166439e+01] [-1.82654954e-02 1.05709928e-03 9.99832613e-01 -6.87505930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344391418 meters 0.042366843168464646 Centerline is valid? [True, True] Translation: X:313.15, Y:-13.42, Z:-6.88 [[ 9.99794179e-01 -1.14106550e-02 1.67748961e-02 3.13152433e+02] [ 1.14266189e-02 9.99934348e-01 -8.56109189e-04 -1.34196134e+01] [-1.67640260e-02 1.04761333e-03 9.99858925e-01 -6.87755253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404391418 meters 0.046065409811639105 Centerline is valid? [True, True] Translation: X:313.21, Y:-13.42, Z:-6.88 [[ 9.99774347e-01 -1.38756161e-02 1.60848766e-02 3.13212436e+02] [ 1.38906107e-02 9.99903184e-01 -8.20864694e-04 -1.34244150e+01] [-1.60719294e-02 1.04410822e-03 9.99870293e-01 -6.87895716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464391418 meters 0.04756203365181357 Centerline is valid? [True, True] Translation: X:313.27, Y:-13.42, Z:-6.88 [[ 9.99699050e-01 -1.76392306e-02 1.70489758e-02 3.13272915e+02] [ 1.76566280e-02 9.99843731e-01 -8.70443562e-04 -1.34249565e+01] [-1.70309577e-02 1.17120903e-03 9.99854277e-01 -6.87887392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52439141799994 meters 0.04717097259784691 Centerline is valid? [True, True] Translation: X:313.33, Y:-13.42, Z:-6.88 [[ 9.99634813e-01 -2.11124292e-02 1.68673080e-02 3.13334349e+02] [ 2.11299530e-02 9.99776367e-01 -8.61359259e-04 -1.34236238e+01] [-1.68453505e-02 1.21745013e-03 9.99857366e-01 -6.88016885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58439141799994 meters 0.04673974992585933 Centerline is valid? [True, True] Translation: X:313.40, Y:-13.42, Z:-6.88 [[ 9.99622126e-01 -2.23599865e-02 1.59886070e-02 3.13396511e+02] [ 2.23758719e-02 9.99749296e-01 -8.15321074e-04 -1.34212778e+01] [-1.59663680e-02 1.17277201e-03 9.99871842e-01 -6.88112344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64439141799994 meters 0.04658090377567883 Centerline is valid? [True, True] Translation: X:313.46, Y:-13.42, Z:-6.88 [[ 9.99648871e-01 -2.08885327e-02 1.63034959e-02 3.13458103e+02] [ 2.09049467e-02 9.99781117e-01 -8.36988768e-04 -1.34207811e+01] [-1.62824439e-02 1.17751859e-03 9.99866739e-01 -6.88149626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70439141799994 meters 0.04252874036639173 Centerline is valid? [True, True] Translation: X:313.52, Y:-13.41, Z:-6.88 [[ 9.99740017e-01 -1.47346268e-02 1.74008624e-02 3.13519192e+02] [ 1.47524139e-02 9.99890777e-01 -8.94271548e-04 -1.34135594e+01] [-1.73857851e-02 1.15074378e-03 9.99848194e-01 -6.88148333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76439141799995 meters 0.038780539379413885 Centerline is valid? [True, True] Translation: X:313.58, Y:-13.41, Z:-6.88 [[ 9.99814611e-01 -8.95360206e-03 1.70462940e-02 3.13580032e+02] [ 8.96983424e-03 9.99959387e-01 -8.76021121e-04 -1.34075118e+01] [-1.70377581e-02 1.02876115e-03 9.99854318e-01 -6.88239953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82439141799995 meters 0.030893060219168572 Centerline is valid? [True, True] Translation: X:313.64, Y:-13.39, Z:-6.88 [[ 9.99882489e-01 1.76244231e-03 1.52283580e-02 3.13641776e+02] [-1.75072842e-03 9.99998161e-01 -7.82512262e-04 -1.33938045e+01] [-1.52297091e-02 7.55759589e-04 9.99883736e-01 -6.88419975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88439141799995 meters 0.025606558631464778 Centerline is valid? [True, True] Translation: X:313.70, Y:-13.38, Z:-6.89 [[ 9.99812467e-01 1.33355466e-02 1.40425720e-02 3.13702732e+02] [-1.33267217e-02 9.99910935e-01 -7.21834180e-04 -1.33839070e+01] [-1.40509474e-02 5.34557364e-04 9.99901138e-01 -6.88642885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94439141799995 meters 0.021803198864278017 Centerline is valid? [True, True] Translation: X:313.76, Y:-13.38, Z:-6.89 [[ 9.99698383e-01 1.99692225e-02 1.42959143e-02 3.13763704e+02] [-1.99607571e-02 9.99800494e-01 -7.34609623e-04 -1.33780033e+01] [-1.43077318e-02 4.49030780e-04 9.99897538e-01 -6.88708673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00439141799995 meters 0.018268343495362445 Centerline is valid? [True, True] Translation: X:313.82, Y:-13.37, Z:-6.89 [[ 9.99492886e-01 2.84081200e-02 1.43857614e-02 3.13824588e+02] [-2.84004128e-02 9.99596353e-01 -7.39801603e-04 -1.33704241e+01] [-1.44009710e-02 3.30864876e-04 9.99896246e-01 -6.88749377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06439141799996 meters 0.015510137180733864 Centerline is valid? [True, True] Translation: X:313.89, Y:-13.37, Z:-6.89 [[ 9.99237280e-01 3.62600727e-02 1.44936121e-02 3.13885117e+02] [-3.62530727e-02 9.99342363e-01 -7.45499535e-04 -1.33653672e+01] [-1.45111124e-02 2.19492955e-04 9.99894684e-01 -6.88851037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12439141799996 meters 0.01593947697257613 Centerline is valid? [True, True] Translation: X:313.94, Y:-13.36, Z:-6.89 [[ 9.98999713e-01 4.23201964e-02 1.44421099e-02 3.13944250e+02] [-4.23138766e-02 9.99104091e-01 -7.43019614e-04 -1.33631165e+01] [-1.44606158e-02 1.31174726e-04 9.99895431e-01 -6.89032669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18439141799996 meters 0.013218178124580478 Centerline is valid? [True, True] Translation: X:314.00, Y:-13.36, Z:-6.89 [[ 9.98659263e-01 4.93037951e-02 1.57737651e-02 3.14002127e+02] [-4.92971447e-02 9.98783828e-01 -8.10389819e-04 -1.33593486e+01] [-1.57945368e-02 3.17017183e-05 9.99875258e-01 -6.89019725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24439141799996 meters 0.013414540210515361 Centerline is valid? [True, True] Translation: X:314.06, Y:-13.36, Z:-6.89 [[ 9.98526096e-01 5.18032237e-02 1.61883246e-02 3.14060766e+02] [-5.17965870e-02 9.98657312e-01 -8.29259542e-04 -1.33604640e+01] [-1.62095470e-02 -1.04626705e-05 9.99868617e-01 -6.89159305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30439141799997 meters 0.013269496294623885 Centerline is valid? [True, True] Translation: X:314.12, Y:-13.37, Z:-6.89 [[ 9.98642267e-01 4.95101628e-02 1.61977370e-02 3.14118142e+02] [-4.95032336e-02 9.98773620e-01 -8.28703491e-04 -1.33674844e+01] [-1.62189017e-02 2.57379742e-05 9.99868465e-01 -6.89403983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36439141799997 meters 0.014676640729326606 Centerline is valid? [True, True] Translation: X:314.18, Y:-13.38, Z:-6.90 [[ 9.99107374e-01 3.92555793e-02 1.56030175e-02 3.14175415e+02] [-3.92479266e-02 9.99229186e-01 -7.96495845e-04 -1.33822134e+01] [-1.56222574e-02 1.83398786e-04 9.99877948e-01 -6.89701242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42439141799997 meters 0.019730535006451014 Centerline is valid? [True, True] Translation: X:314.23, Y:-13.40, Z:-6.90 [[ 9.99552861e-01 2.46372019e-02 1.69436034e-02 3.14234812e+02] [-2.46261241e-02 9.99696359e-01 -8.62163952e-04 -1.34004568e+01] [-1.69596999e-02 4.44523165e-04 9.99856075e-01 -6.89787304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484391418 meters 0.024070449246559593 Centerline is valid? [True, True] Translation: X:314.30, Y:-13.41, Z:-6.90 [[ 9.99682684e-01 1.64767688e-02 1.90537800e-02 3.14295496e+02] [-1.64612928e-02 9.99864034e-01 -9.68794621e-04 -1.34139093e+01] [-1.90671519e-02 6.54837357e-04 9.99817991e-01 -6.89800752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544391418 meters 0.027304059803132594 Centerline is valid? [True, True] Translation: X:314.36, Y:-13.42, Z:-6.90 [[ 9.99737459e-01 1.10333858e-02 2.00817743e-02 3.14356523e+02] [-1.10150901e-02 9.99938810e-01 -1.02144776e-03 -1.34249255e+01] [-2.00918155e-02 7.99977030e-04 9.99797819e-01 -6.89834042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604391418 meters 0.02858007707988796 Centerline is valid? [True, True] Translation: X:314.42, Y:-13.43, Z:-6.90 [[ 9.99760727e-01 8.49877513e-03 2.01558702e-02 3.14418053e+02] [-8.47982208e-03 9.99963520e-01 -1.02560683e-03 -1.34320413e+01] [-2.01638513e-02 8.54443234e-04 9.99796324e-01 -6.89947028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664391418 meters 0.030362382952493352 Centerline is valid? [True, True] Translation: X:314.48, Y:-13.44, Z:-6.90 [[ 9.99799298e-01 7.43948126e-03 1.86015428e-02 3.14478764e+02] [-7.42307456e-03 9.99971996e-01 -9.50899383e-04 -1.34404008e+01] [-1.86080961e-02 8.12627897e-04 9.99826524e-01 -6.90239988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724391418 meters 0.030782800243500403 Centerline is valid? [True, True] Translation: X:314.54, Y:-13.45, Z:-6.91 [[ 9.99823190e-01 8.44054770e-03 1.68031664e-02 3.14540939e+02] [-8.42724028e-03 9.99964118e-01 -8.62609717e-04 -1.34456906e+01] [-1.68098443e-02 7.20852879e-04 9.99858445e-01 -6.90535899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784391418 meters 0.02723063377036255 Centerline is valid? [True, True] Translation: X:314.60, Y:-13.44, Z:-6.91 [[ 9.99845923e-01 1.11088831e-02 1.35912876e-02 3.14603605e+02] [-1.11003907e-02 9.99938144e-01 -7.00121606e-04 -1.34435569e+01] [-1.35982245e-02 5.49145130e-04 9.99907389e-01 -6.90923629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844391418 meters 0.027635880230872066 Centerline is valid? [True, True] Translation: X:314.66, Y:-13.45, Z:-6.91 [[ 9.99876205e-01 1.17776465e-02 1.04337077e-02 3.14664686e+02] [-1.17726597e-02 9.99930554e-01 -5.39251290e-04 -1.34461009e+01] [-1.04393342e-02 4.16352044e-04 9.99945422e-01 -6.91295296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904391418 meters 0.027995450775701942 Centerline is valid? [True, True] Translation: X:314.73, Y:-13.45, Z:-6.91 [[ 9.99885283e-01 1.14684544e-02 9.89419431e-03 3.14725721e+02] [-1.14639064e-02 9.99934154e-01 -5.16255598e-04 -1.34491898e+01] [-9.89946347e-03 4.02770257e-04 9.99950918e-01 -6.91459481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964391418 meters 0.027838755499365514 Centerline is valid? [True, True] Translation: X:314.79, Y:-13.45, Z:-6.91 [[ 9.99861041e-01 1.15785046e-02 1.19932404e-02 3.14787667e+02] [-1.15718221e-02 9.99932848e-01 -6.26431242e-04 -1.34484887e+01] [-1.19996881e-02 4.87560549e-04 9.99927882e-01 -6.91324873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02439141799994 meters 0.028241625454237335 Centerline is valid? [True, True] Translation: X:314.85, Y:-13.45, Z:-6.91 [[ 9.99810650e-01 1.31957971e-02 1.43015488e-02 3.14849060e+02] [-1.31864727e-02 9.99912776e-01 -7.46094369e-04 -1.34480728e+01] [-1.43101467e-02 5.57366113e-04 9.99897449e-01 -6.91170653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08439141799994 meters 0.02621648410833243 Centerline is valid? [True, True] Translation: X:314.91, Y:-13.45, Z:-6.91 [[ 9.99785433e-01 1.36108463e-02 1.56151543e-02 3.14911850e+02] [-1.35997145e-02 9.99907184e-01 -8.18851836e-04 -1.34458709e+01] [-1.56248502e-02 6.06314496e-04 9.99877741e-01 -6.91065400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14439141799994 meters 0.027477489091197228 Centerline is valid? [True, True] Translation: X:314.97, Y:-13.45, Z:-6.91 [[ 9.99783179e-01 1.30932108e-02 1.61914707e-02 3.14973465e+02] [-1.30810945e-02 9.99914074e-01 -8.53995165e-04 -1.34480116e+01] [-1.62012610e-02 6.42007841e-04 9.99868545e-01 -6.91016670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20439141799994 meters 0.028698053278157522 Centerline is valid? [True, True] Translation: X:315.03, Y:-13.45, Z:-6.91 [[ 9.99812208e-01 1.25753648e-02 1.47448226e-02 3.15034375e+02] [-1.25652121e-02 9.99920750e-01 -7.81004777e-04 -1.34507300e+01] [-1.47534755e-02 5.95586287e-04 9.99890984e-01 -6.91249094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26439141799995 meters 0.028289032982483597 Centerline is valid? [True, True] Translation: X:315.10, Y:-13.45, Z:-6.91 [[ 9.99794486e-01 1.45317164e-02 1.41355676e-02 3.15097113e+02] [-1.45225216e-02 9.99894259e-01 -7.52906917e-04 -1.34517933e+01] [-1.41450139e-02 5.47468098e-04 9.99899804e-01 -6.91457699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32439141799995 meters 0.024120178195890664 Centerline is valid? [True, True] Translation: X:315.16, Y:-13.44, Z:-6.92 [[ 9.99643771e-01 2.27567941e-02 1.39448703e-02 3.15157928e+02] [-2.27486015e-02 9.99740939e-01 -7.45856008e-04 -1.34438496e+01] [-1.39582310e-02 4.28364014e-04 9.99902487e-01 -6.91566541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38439141799995 meters 0.01693289748363442 Centerline is valid? [True, True] Translation: X:315.22, Y:-13.43, Z:-6.92 [[ 9.99237383e-01 3.63234339e-02 1.43269075e-02 3.15219152e+02] [-3.63161777e-02 9.99340056e-01 -7.66397384e-04 -1.34293794e+01] [-1.43452907e-02 2.45514400e-04 9.99897071e-01 -6.91587390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44439141799995 meters 0.014143984833816268 Centerline is valid? [True, True] Translation: X:315.28, Y:-13.42, Z:-6.92 [[ 9.98843502e-01 4.59300189e-02 1.42159315e-02 3.15278868e+02] [-4.59238416e-02 9.98944654e-01 -7.60841305e-04 -1.34215999e+01] [-1.42358742e-02 1.07111208e-04 9.99898659e-01 -6.91668639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50439141799995 meters 0.013998736862996604 Centerline is valid? [True, True] Translation: X:315.34, Y:-13.41, Z:-6.92 [[ 9.98220741e-01 5.80620301e-02 1.35702865e-02 3.15338380e+02] [-5.80575291e-02 9.98312975e-01 -7.25718875e-04 -1.34123547e+01] [-1.35895298e-02 -6.34296701e-05 9.99907656e-01 -6.91845816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56439141799996 meters 0.01522773589002901 Centerline is valid? [True, True] Translation: X:315.40, Y:-13.41, Z:-6.92 [[ 9.97803369e-01 6.49255552e-02 1.31571217e-02 3.15397258e+02] [-6.49219337e-02 9.97890099e-01 -7.02625182e-04 -1.34085389e+01] [-1.31749798e-02 -1.53104007e-04 9.99913194e-01 -6.92006896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62439141799996 meters 0.015474320348739213 Centerline is valid? [True, True] Translation: X:315.46, Y:-13.41, Z:-6.92 [[ 9.97799864e-01 6.51084050e-02 1.25030534e-02 3.15456029e+02] [-6.51051603e-02 9.97878186e-01 -6.66791415e-04 -1.34108988e+01] [-1.25199380e-02 -1.48688911e-04 9.99921611e-01 -6.92193885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68439141799996 meters 0.013978813278628318 Centerline is valid? [True, True] Translation: X:315.51, Y:-13.42, Z:-6.92 [[ 9.98125463e-01 5.98534084e-02 1.27722531e-02 3.15514550e+02] [-5.98496053e-02 9.98207174e-01 -6.80118423e-04 -1.34191348e+01] [-1.27900621e-02 -8.55707909e-05 9.99918200e-01 -6.92317560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74439141799996 meters 0.013299658373034156 Centerline is valid? [True, True] Translation: X:315.57, Y:-13.43, Z:-6.92 [[ 9.98728934e-01 4.87895013e-02 1.26531031e-02 3.15572731e+02] [-4.87848928e-02 9.98809082e-01 -6.72801967e-04 -1.34326273e+01] [-1.26708599e-02 5.46665142e-05 9.99919720e-01 -6.92449104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80439141799997 meters 0.01514523972560024 Centerline is valid? [True, True] Translation: X:315.63, Y:-13.45, Z:-6.93 [[ 9.99107177e-01 4.00859397e-02 1.33404268e-02 3.15629982e+02] [-4.00800540e-02 9.99196221e-01 -7.08359110e-04 -1.34451430e+01] [-1.33580992e-02 1.73041645e-04 9.99910762e-01 -6.92605798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86439141799997 meters 0.020562226843461633 Centerline is valid? [True, True] Translation: X:315.69, Y:-13.46, Z:-6.93 [[ 9.99533718e-01 2.70171424e-02 1.42274307e-02 3.15688020e+02] [-2.70091544e-02 9.99634902e-01 -7.53329233e-04 -1.34632701e+01] [-1.42425891e-02 3.68707097e-04 9.99898501e-01 -6.92649361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92439141799997 meters 0.024789137165656637 Centerline is valid? [True, True] Translation: X:315.75, Y:-13.48, Z:-6.93 [[ 9.99777409e-01 1.54091525e-02 1.44114654e-02 3.15747542e+02] [-1.53997572e-02 9.99881126e-01 -7.62679240e-04 -1.34768326e+01] [-1.44215044e-02 5.40576407e-04 9.99895859e-01 -6.92728610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984391418 meters 0.028118683217940293 Centerline is valid? [True, True] Translation: X:315.81, Y:-13.49, Z:-6.93 [[ 9.99858397e-01 9.19091940e-03 1.40965798e-02 3.15807685e+02] [-9.18131716e-03 9.99957573e-01 -7.45740621e-04 -1.34873909e+01] [-1.41028358e-02 6.16209851e-04 9.99900360e-01 -6.92906405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044391418 meters 0.031261676050683807 Centerline is valid? [True, True] Translation: X:315.87, Y:-13.50, Z:-6.93 [[ 9.99891135e-01 2.71045222e-03 1.45042036e-02 3.15867419e+02] [-2.69960080e-03 9.99996061e-01 -7.67683684e-04 -1.34973142e+01] [-1.45062273e-02 7.28444550e-04 9.99894514e-01 -6.93041769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104391418 meters 0.03140959052800296 Centerline is valid? [True, True] Translation: X:315.93, Y:-13.50, Z:-6.93 [[ 9.99881994e-01 1.37535739e-03 1.53005090e-02 3.15929692e+02] [-1.36315239e-03 9.99998744e-01 -8.08086084e-04 -1.35014283e+01] [-1.53016012e-02 7.87133799e-04 9.99882614e-01 -6.93100793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164391418 meters 0.03074930199280042 Centerline is valid? [True, True] Translation: X:315.99, Y:-13.50, Z:-6.93 [[ 9.99868911e-01 2.48427195e-03 1.59996551e-02 3.15991531e+02] [-2.47096960e-03 9.99996585e-01 -8.51129697e-04 -1.35024508e+01] [-1.60017149e-02 8.11483462e-04 9.99871635e-01 -6.93185839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224391418 meters 0.02961576680295441 Centerline is valid? [True, True] Translation: X:316.05, Y:-13.50, Z:-6.93 [[ 9.99866414e-01 6.32589498e-03 1.50710597e-02 3.16053093e+02] [-6.31450585e-03 9.99979741e-01 -8.03161806e-04 -1.35012476e+01] [-1.50758351e-02 7.07888220e-04 9.99886103e-01 -6.93476352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284391418 meters 0.028419668943976566 Centerline is valid? [True, True] Translation: X:316.11, Y:-13.50, Z:-6.94 [[ 9.99842948e-01 1.02206538e-02 1.44781494e-02 3.16114303e+02] [-1.02105428e-02 9.99947573e-01 -7.72115193e-04 -1.34999989e+01] [-1.44852818e-02 6.24164168e-04 9.99894888e-01 -6.93757242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344391418 meters 0.02341003754602704 Centerline is valid? [True, True] Translation: X:316.18, Y:-13.49, Z:-6.94 [[ 9.99703466e-01 1.82261552e-02 1.61489333e-02 3.16175104e+02] [-1.82146025e-02 9.99833729e-01 -8.62189991e-04 -1.34904185e+01] [-1.61619626e-02 5.67787921e-04 9.99869226e-01 -6.93747268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404391418 meters 0.018365069562911986 Centerline is valid? [True, True] Translation: X:316.24, Y:-13.48, Z:-6.94 [[ 9.99401093e-01 2.87819712e-02 1.92107561e-02 3.16236258e+02] [-2.87675688e-02 9.99585602e-01 -1.02568952e-03 -1.34788118e+01] [-1.92323165e-02 4.72428476e-04 9.99814930e-01 -6.93521138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464391418 meters 0.017136264000946158 Centerline is valid? [True, True] Translation: X:316.29, Y:-13.48, Z:-6.94 [[ 9.99248008e-01 3.29496531e-02 2.04386740e-02 3.16294916e+02] [-3.29342171e-02 9.99456926e-01 -1.09146549e-03 -1.34775353e+01] [-2.04635377e-02 4.17512985e-04 9.99790513e-01 -6.93540516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52439141799994 meters 0.013925846558200287 Centerline is valid? [True, True] Translation: X:316.36, Y:-13.47, Z:-6.93 [[ 9.98889194e-01 4.15282907e-02 2.22661148e-02 3.16355691e+02] [-4.15121325e-02 9.99137294e-01 -1.18760506e-03 -1.34696846e+01] [-2.22962249e-02 2.61971953e-04 9.99751374e-01 -6.93485368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58439141799994 meters 0.012262749273223987 Centerline is valid? [True, True] Translation: X:316.42, Y:-13.46, Z:-6.93 [[ 9.98293945e-01 5.24095508e-02 2.57378787e-02 3.16415087e+02] [-5.23916194e-02 9.98625675e-01 -1.37099619e-03 -1.34601773e+01] [-2.57743597e-02 2.02080516e-05 9.99667786e-01 -6.93327212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64439141799994 meters 0.012368924913748537 Centerline is valid? [True, True] Translation: X:316.47, Y:-13.46, Z:-6.93 [[ 9.97913744e-01 5.80783519e-02 2.81969006e-02 3.16473915e+02] [-5.80591621e-02 9.98312018e-01 -1.49948607e-03 -1.34573779e+01] [-2.82363924e-02 -1.40730668e-04 9.99601264e-01 -6.93334419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70439141799994 meters 0.012222133031366388 Centerline is valid? [True, True] Translation: X:316.53, Y:-13.46, Z:-6.94 [[ 9.97956025e-01 5.73492160e-02 2.81929004e-02 3.16531122e+02] [-5.73298243e-02 9.98354172e-01 -1.49631742e-03 -1.34607065e+01] [-2.82323123e-02 -1.23035039e-04 9.99601381e-01 -6.93531279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76439141799995 meters 0.012106792113158037 Centerline is valid? [True, True] Translation: X:316.59, Y:-13.47, Z:-6.94 [[ 9.98138871e-01 5.41389017e-02 2.80672966e-02 3.16589676e+02] [-5.41185397e-02 9.98533414e-01 -1.48515338e-03 -1.34668973e+01] [-2.81065381e-02 -3.65717844e-05 9.99604933e-01 -6.93754046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82439141799995 meters 0.012478106276223705 Centerline is valid? [True, True] Translation: X:316.65, Y:-13.48, Z:-6.94 [[ 9.98415731e-01 4.82769992e-02 2.89025728e-02 3.16648071e+02] [-4.82530205e-02 9.98833977e-01 -1.52693588e-03 -1.34766134e+01] [-2.89425876e-02 1.29880369e-04 9.99581067e-01 -6.93894272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88439141799995 meters 0.013340162572713402 Centerline is valid? [True, True] Translation: X:316.71, Y:-13.49, Z:-6.94 [[ 9.98607107e-01 4.37919251e-02 2.94297856e-02 3.16706022e+02] [-4.37651873e-02 9.99040639e-01 -1.55236488e-03 -1.34867611e+01] [-2.94695328e-02 2.62202525e-04 9.99565645e-01 -6.94099676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94439141799995 meters 0.013871206860362207 Centerline is valid? [True, True] Translation: X:316.76, Y:-13.49, Z:-6.94 [[ 9.98735812e-01 4.13347474e-02 2.86044879e-02 3.16764910e+02] [-4.13085379e-02 9.99145302e-01 -1.50684514e-03 -1.34944539e+01] [-2.86423247e-02 3.23330635e-04 9.99589672e-01 -6.94365900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00439141799995 meters 0.01460369652063852 Centerline is valid? [True, True] Translation: X:316.82, Y:-13.50, Z:-6.95 [[ 9.98921219e-01 3.78773722e-02 2.68645327e-02 3.16823621e+02] [-3.78530325e-02 9.99282317e-01 -1.41416364e-03 -1.35042743e+01] [-2.68988173e-02 3.95734041e-04 9.99638083e-01 -6.94783011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06439141799996 meters 0.01595358231596097 Centerline is valid? [True, True] Translation: X:316.88, Y:-13.52, Z:-6.95 [[ 9.99100630e-01 3.41403834e-02 2.51468694e-02 3.16883535e+02] [-3.41178951e-02 9.99416940e-01 -1.32290986e-03 -1.35158680e+01] [-2.51773719e-02 4.63761822e-04 9.99682892e-01 -6.95193659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12439141799996 meters 0.01742853700943829 Centerline is valid? [True, True] Translation: X:316.94, Y:-13.53, Z:-6.96 [[ 9.99192811e-01 3.22876611e-02 2.39004900e-02 3.16942406e+02] [-3.22668183e-02 9.99478500e-01 -1.25730389e-03 -1.35255346e+01] [-2.39286213e-02 4.85096238e-04 9.99713552e-01 -6.95516282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18439141799996 meters 0.018264376330578223 Centerline is valid? [True, True] Translation: X:317.00, Y:-13.54, Z:-6.96 [[ 9.99328702e-01 2.96161277e-02 2.15645684e-02 3.17002290e+02] [-2.95985475e-02 9.99561224e-01 -1.13402734e-03 -1.35364100e+01] [-2.15886919e-02 4.94986169e-04 9.99766814e-01 -6.96037861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24439141799996 meters 0.018645700434092225 Centerline is valid? [True, True] Translation: X:317.06, Y:-13.55, Z:-6.97 [[ 9.99473292e-01 2.68601736e-02 1.82118192e-02 3.17062054e+02] [-2.68471784e-02 9.99639091e-01 -9.57714549e-04 -1.35472707e+01] [-1.82309708e-02 4.68274154e-04 9.99833692e-01 -6.96684443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30439141799997 meters 0.019073822664364474 Centerline is valid? [True, True] Translation: X:317.12, Y:-13.56, Z:-6.97 [[ 9.99557992e-01 2.52216541e-02 1.57381627e-02 3.17121613e+02] [-2.52117447e-02 9.99681791e-01 -8.27758827e-04 -1.35563094e+01] [-1.57540321e-02 4.30606410e-04 9.99875805e-01 -6.97114481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36439141799997 meters 0.020326156182825142 Centerline is valid? [True, True] Translation: X:317.18, Y:-13.57, Z:-6.98 [[ 9.99650344e-01 2.40597875e-02 1.09688865e-02 3.17180789e+02] [-2.40549085e-02 9.99710473e-01 -5.76532493e-04 -1.35677772e+01] [-1.09795820e-02 3.12475342e-04 9.99939674e-01 -6.97777286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42439141799997 meters 0.019445610535517906 Centerline is valid? [True, True] Translation: X:317.24, Y:-13.57, Z:-6.98 [[ 9.99657018e-01 2.52931093e-02 6.79012727e-03 3.17240429e+02] [-2.52912634e-02 9.99680061e-01 -3.57600627e-04 -1.35747517e+01] [-6.79699967e-03 1.85747079e-04 9.99976883e-01 -6.98245674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484391418 meters 0.019484354409280022 Centerline is valid? [True, True] Translation: X:317.30, Y:-13.58, Z:-6.99 [[ 9.99610540e-01 2.72899860e-02 5.83317716e-03 3.17297916e+02] [-2.72886527e-02 9.99627548e-01 -3.08050736e-04 -1.35805823e+01] [-5.83941128e-03 1.48751216e-04 9.99982939e-01 -6.98581068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544391418 meters 0.016707444023248013 Centerline is valid? [True, True] Translation: X:317.36, Y:-13.58, Z:-6.99 [[ 9.99426122e-01 3.34635325e-02 5.25528381e-03 3.17357191e+02] [-3.34625348e-02 9.99439934e-01 -2.77684901e-04 -1.35815495e+01] [-5.26163282e-03 1.01670426e-04 9.99986152e-01 -6.98611255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604391418 meters 0.014707784725877993 Centerline is valid? [True, True] Translation: X:317.42, Y:-13.58, Z:-6.99 [[ 9.99134304e-01 4.12192967e-02 5.62249786e-03 3.17416453e+02] [-4.12182887e-02 9.99150122e-01 -2.95092692e-04 -1.35821920e+01] [-5.62988293e-03 6.30874913e-05 9.99984150e-01 -6.98581289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664391418 meters 0.014145520161457283 Centerline is valid? [True, True] Translation: X:317.48, Y:-13.59, Z:-6.99 [[ 9.98981771e-01 4.46237470e-02 6.64401700e-03 3.17475559e+02] [-4.46224170e-02 9.99003863e-01 -3.48356971e-04 -1.35850778e+01] [-6.65294364e-03 5.15301663e-05 9.99977868e-01 -6.98595074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724391418 meters 0.013941649586663269 Centerline is valid? [True, True] Translation: X:317.53, Y:-13.59, Z:-6.99 [[ 9.98873368e-01 4.67953694e-02 7.88591028e-03 3.17534708e+02] [-4.67935733e-02 9.98904496e-01 -4.12208885e-04 -1.35902612e+01] [-7.89656070e-03 4.27345560e-05 9.99968821e-01 -6.98517741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784391418 meters 0.014048633225934743 Centerline is valid? [True, True] Translation: X:317.59, Y:-13.60, Z:-6.99 [[ 9.98846599e-01 4.74585113e-02 7.29121968e-03 3.17593520e+02] [-4.74569941e-02 9.98873209e-01 -3.81063497e-04 -1.35955348e+01] [-7.30108871e-03 3.46046089e-05 9.99973346e-01 -6.98667904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844391418 meters 0.014157642648717599 Centerline is valid? [True, True] Translation: X:317.65, Y:-13.60, Z:-6.99 [[ 9.98861170e-01 4.71529480e-02 7.27755557e-03 3.17650838e+02] [-4.71514285e-02 9.98887680e-01 -3.80333007e-04 -1.36031156e+01] [-7.28739442e-03 3.67527315e-05 9.99973446e-01 -6.98744752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904391418 meters 0.014345290155441705 Centerline is valid? [True, True] Translation: X:317.71, Y:-13.61, Z:-6.99 [[ 9.98934383e-01 4.56202453e-02 6.99229602e-03 3.17709153e+02] [-4.56188142e-02 9.98958854e-01 -3.64104087e-04 -1.36118348e+01] [-7.00162653e-03 4.47358391e-05 9.99975487e-01 -6.98786693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964391418 meters 0.014752853011510761 Centerline is valid? [True, True] Translation: X:317.77, Y:-13.62, Z:-6.99 [[ 9.99076141e-01 4.23516423e-02 7.29405989e-03 3.17767616e+02] [-4.23500022e-02 9.99102764e-01 -3.79243205e-04 -1.36218979e+01] [-7.30357697e-03 6.99893860e-05 9.99973326e-01 -6.98781340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02439141799994 meters 0.015271222894133211 Centerline is valid? [True, True] Translation: X:317.83, Y:-13.63, Z:-6.99 [[ 9.99193713e-01 3.93311590e-02 8.06119574e-03 3.17826345e+02] [-3.93290641e-02 9.99226226e-01 -4.18287438e-04 -1.36301314e+01] [-8.07140992e-03 1.00910895e-04 9.99967421e-01 -6.98766792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08439141799994 meters 0.015942686689523776 Centerline is valid? [True, True] Translation: X:317.89, Y:-13.64, Z:-6.99 [[ 9.99313056e-01 3.59501749e-02 9.00002936e-03 3.17885186e+02] [-3.59474350e-02 9.99353573e-01 -4.66064489e-04 -1.36397503e+01] [-9.01096661e-03 1.42216358e-04 9.99959390e-01 -6.98718792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14439141799994 meters 0.01632895236828706 Centerline is valid? [True, True] Translation: X:317.94, Y:-13.65, Z:-6.99 [[ 9.99374131e-01 3.40529552e-02 9.57819992e-03 3.17943597e+02] [-3.40497731e-02 9.99420016e-01 -4.95140120e-04 -1.36454002e+01] [-9.58950570e-03 1.68694693e-04 9.99954005e-01 -6.98711513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20439141799994 meters 0.017426175007516056 Centerline is valid? [True, True] Translation: X:318.00, Y:-13.65, Z:-6.99 [[ 9.99479756e-01 3.04726741e-02 1.05656300e-02 3.18002531e+02] [-3.04686130e-02 9.99535575e-01 -5.45149487e-04 -1.36529886e+01] [-1.05773352e-02 2.22945785e-04 9.99944034e-01 -6.98714931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26439141799995 meters 0.0188870676379894 Centerline is valid? [True, True] Translation: X:318.06, Y:-13.66, Z:-6.99 [[ 9.99579555e-01 2.65931421e-02 1.15549794e-02 3.18062112e+02] [-2.65880439e-02 9.99646299e-01 -5.94632340e-04 -1.36614862e+01] [-1.15667055e-02 2.87158031e-04 9.99933062e-01 -6.98747799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32439141799995 meters 0.023214473233946993 Centerline is valid? [True, True] Translation: X:318.12, Y:-13.67, Z:-6.99 [[ 9.99606971e-01 2.55251987e-02 1.15916685e-02 3.18120212e+02] [-2.55199995e-02 9.99674134e-01 -5.96246372e-04 -1.36721141e+01] [-1.16031104e-02 3.00192657e-04 9.99932637e-01 -6.99089263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38439141799995 meters 0.019996017259048218 Centerline is valid? [True, True] Translation: X:318.18, Y:-13.67, Z:-6.99 [[ 9.99636474e-01 2.41517409e-02 1.19839165e-02 3.18180132e+02] [-2.41460968e-02 9.99708251e-01 -6.15459662e-04 -1.36705724e+01] [-1.19952846e-02 3.25871119e-04 9.99928001e-01 -6.98881601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44439141799995 meters 0.019354883395842074 Centerline is valid? [True, True] Translation: X:318.24, Y:-13.67, Z:-6.99 [[ 9.99583732e-01 2.61587341e-02 1.21689533e-02 3.18240002e+02] [-2.61530692e-02 9.99657755e-01 -6.24453758e-04 -1.36723596e+01] [-1.21811235e-02 3.05938339e-04 9.99925761e-01 -6.98938491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50439141799995 meters 0.017084230994912134 Centerline is valid? [True, True] Translation: X:318.30, Y:-13.67, Z:-6.99 [[ 9.99371280e-01 3.29007241e-02 1.32131362e-02 3.18300335e+02] [-3.28946444e-02 9.99458595e-01 -6.77248417e-04 -1.36711508e+01] [-1.32282645e-02 2.42181201e-04 9.99912473e-01 -6.98932195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56439141799996 meters 0.014874686997029212 Centerline is valid? [True, True] Translation: X:318.36, Y:-13.67, Z:-6.99 [[ 9.99110473e-01 3.93545014e-02 1.51488215e-02 3.18358795e+02] [-3.93472508e-02 9.99225295e-01 -7.76497637e-04 -1.36694017e+01] [-1.51676444e-02 1.79742441e-04 9.99884949e-01 -6.98899824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62439141799996 meters 0.014328730720743985 Centerline is valid? [True, True] Translation: X:318.42, Y:-13.67, Z:-6.99 [[ 9.99004656e-01 4.18274846e-02 1.54970421e-02 3.18418132e+02] [-4.18202155e-02 9.99124837e-01 -7.92971281e-04 -1.36700726e+01] [-1.55166477e-02 1.44092361e-04 9.99879599e-01 -6.99029820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68439141799996 meters 0.014559886719987411 Centerline is valid? [True, True] Translation: X:318.48, Y:-13.68, Z:-6.99 [[ 9.99049018e-01 4.12289918e-02 1.41855361e-02 3.18476574e+02] [-4.12228488e-02 9.99149714e-01 -7.25300091e-04 -1.36757885e+01] [-1.42033777e-02 1.39842135e-04 9.99899117e-01 -6.99376431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74439141799996 meters 0.014766324505975986 Centerline is valid? [True, True] Translation: X:318.54, Y:-13.68, Z:-6.99 [[ 9.99195464e-01 3.77522865e-02 1.35347394e-02 3.18535368e+02] [-3.77463873e-02 9.99287112e-01 -6.91137475e-04 -1.36812461e+01] [-1.35511827e-02 1.79693914e-04 9.99908162e-01 -6.99484512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80439141799997 meters 0.016921924888569757 Centerline is valid? [True, True] Translation: X:318.59, Y:-13.69, Z:-6.99 [[ 9.99406502e-01 3.09190159e-02 1.51874414e-02 3.18594046e+02] [-3.09108239e-02 9.99521847e-01 -7.73899165e-04 -1.36906102e+01] [-1.52041077e-02 3.03983531e-04 9.99884365e-01 -6.99438745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86439141799997 meters 0.01928945920914017 Centerline is valid? [True, True] Translation: X:318.65, Y:-13.70, Z:-6.99 [[ 9.99551784e-01 2.45198023e-02 1.71758815e-02 3.18653527e+02] [-2.45084033e-02 9.99699242e-01 -8.73870648e-04 -1.37010682e+01] [-1.71921428e-02 4.52525534e-04 9.99852102e-01 -6.99399972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92439141799997 meters 0.02333874489952164 Centerline is valid? [True, True] Translation: X:318.71, Y:-13.71, Z:-7.00 [[ 9.99669940e-01 1.79657341e-02 1.83641875e-02 3.18713438e+02] [-1.79516084e-02 9.99838421e-01 -9.33774220e-04 -1.37130720e+01] [-1.83779962e-02 6.03799317e-04 9.99830928e-01 -6.99524347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984391418 meters 0.025335437944225672 Centerline is valid? [True, True] Translation: X:318.77, Y:-13.72, Z:-7.00 [[ 9.99737602e-01 1.36376019e-02 1.84049818e-02 3.18774591e+02] [-1.36226753e-02 9.99906769e-01 -9.36147595e-04 -1.37209767e+01] [-1.84160327e-02 6.85176861e-04 9.99830176e-01 -6.99655704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044391418 meters 0.027553684890881936 Centerline is valid? [True, True] Translation: X:318.83, Y:-13.73, Z:-7.00 [[ 9.99822102e-01 6.72419093e-03 1.76224436e-02 3.18834471e+02] [-6.70942021e-03 9.99977089e-01 -8.97166031e-04 -1.37301163e+01] [-1.76280726e-02 7.78770047e-04 9.99844310e-01 -6.99867320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104391418 meters 0.03204685994019718 Centerline is valid? [True, True] Translation: X:318.89, Y:-13.74, Z:-7.00 [[ 9.99867936e-01 4.08217373e-04 1.62463206e-02 3.18893157e+02] [-3.94828786e-04 9.99999580e-01 -8.27298585e-04 -1.37404946e+01] [-1.62466515e-02 8.20774814e-04 9.99867678e-01 -7.00042667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164391418 meters 0.03253156129620835 Centerline is valid? [True, True] Translation: X:318.95, Y:-13.74, Z:-7.00 [[ 9.99879926e-01 -2.19039309e-03 1.53406810e-02 3.18954403e+02] [ 2.20262594e-03 9.99997270e-01 -7.80561506e-04 -1.37443546e+01] [-1.53389294e-02 8.14257563e-04 9.99882020e-01 -7.00218375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224391418 meters 0.03391054058873181 Centerline is valid? [True, True] Translation: X:319.02, Y:-13.75, Z:-7.00 [[ 9.99874403e-01 -4.05047522e-03 1.53222708e-02 3.19016390e+02] [ 4.06290186e-03 9.99991442e-01 -7.79976783e-04 -1.37500092e+01] [-1.53189804e-02 8.42131703e-04 9.99882303e-01 -7.00401699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284391418 meters 0.035689605581773746 Centerline is valid? [True, True] Translation: X:319.08, Y:-13.75, Z:-7.01 [[ 9.99884115e-01 -4.74174666e-03 1.44662851e-02 3.19078246e+02] [ 4.75291144e-03 9.99988433e-01 -7.37496554e-04 -1.37541267e+01] [-1.44626207e-02 8.06168061e-04 9.99895086e-01 -7.00604184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344391418 meters 0.03735039606077158 Centerline is valid? [True, True] Translation: X:319.14, Y:-13.76, Z:-7.01 [[ 9.99909209e-01 -5.01092113e-03 1.25085560e-02 3.19138944e+02] [ 5.01930137e-03 9.99987199e-01 -6.38656514e-04 -1.37571023e+01] [-1.25051957e-02 7.01382742e-04 9.99921561e-01 -7.00867814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404391418 meters 0.03461486901736278 Centerline is valid? [True, True] Translation: X:319.20, Y:-13.75, Z:-7.01 [[ 9.99915699e-01 -5.71241288e-03 1.16603161e-02 3.19201105e+02] [ 5.71974680e-03 9.99983465e-01 -5.95712613e-04 -1.37524994e+01] [-1.16567204e-02 6.62356450e-04 9.99931839e-01 -7.00945678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46439141799993 meters 0.03583259573238486 Centerline is valid? [True, True] Translation: X:319.26, Y:-13.75, Z:-7.01 [[ 9.99903148e-01 -5.45913677e-03 1.28020518e-02 3.19263621e+02] [ 5.46797257e-03 9.99984836e-01 -6.55285783e-04 -1.37525170e+01] [-1.27982804e-02 7.25223586e-04 9.99917836e-01 -7.00907632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52439141799994 meters 0.03514047378392119 Centerline is valid? [True, True] Translation: X:319.33, Y:-13.75, Z:-7.01 [[ 9.99894373e-01 -3.66356827e-03 1.40649028e-02 3.19325249e+02] [ 3.67407932e-03 9.99992990e-01 -7.21558711e-04 -1.37503949e+01] [-1.40621608e-02 7.73158063e-04 9.99900824e-01 -7.00909885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58439141799994 meters 0.032144084281766135 Centerline is valid? [True, True] Translation: X:319.39, Y:-13.74, Z:-7.01 [[ 9.99882085e-01 1.63221075e-04 1.53554560e-02 3.19386779e+02] [-1.51129798e-04 9.99999678e-01 -7.88582602e-04 -1.37434558e+01] [-1.53555798e-02 7.86168949e-04 9.99881787e-01 -7.00867692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64439141799994 meters 0.03239950554045894 Centerline is valid? [True, True] Translation: X:319.45, Y:-13.74, Z:-7.01 [[ 9.99875355e-01 3.55505171e-03 1.53829548e-02 3.19447604e+02] [-3.54331363e-03 9.99993410e-01 -7.90245470e-04 -1.37415662e+01] [-1.53856628e-02 7.35640337e-04 9.99881363e-01 -7.01016625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70439141799994 meters 0.0320824547196554 Centerline is valid? [True, True] Translation: X:319.51, Y:-13.74, Z:-7.01 [[ 9.99870246e-01 5.13541664e-03 1.52682369e-02 3.19510126e+02] [-5.12405146e-03 9.99986565e-01 -7.83394468e-04 -1.37396770e+01] [-1.52720548e-02 7.05057588e-04 9.99883127e-01 -7.01058888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76439141799995 meters 0.031037469247174272 Centerline is valid? [True, True] Translation: X:319.57, Y:-13.74, Z:-7.01 [[ 9.99876056e-01 5.61889574e-03 1.47071738e-02 3.19573171e+02] [-5.60835192e-03 9.99983986e-01 -7.58062902e-04 -1.37393071e+01] [-1.47111978e-02 6.75485938e-04 9.99891556e-01 -7.01213815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82439141799995 meters 0.031663101405474514 Centerline is valid? [True, True] Translation: X:319.64, Y:-13.74, Z:-7.01 [[ 9.99887882e-01 5.86550660e-03 1.37774859e-02 3.19636560e+02] [-5.85622284e-03 9.99982597e-01 -7.14083476e-04 -1.37409481e+01] [-1.37814346e-02 6.33319387e-04 9.99904831e-01 -7.01430422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88439141799995 meters 0.02771687964461114 Centerline is valid? [True, True] Translation: X:319.70, Y:-13.73, Z:-7.02 [[ 9.99881704e-01 7.95113455e-03 1.31665525e-02 3.19699466e+02] [-7.94278338e-03 9.99968220e-01 -6.86442603e-04 -1.37344768e+01] [-1.31715920e-02 5.81782325e-04 9.99913082e-01 -7.01547227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94439141799995 meters 0.025343525339733216 Centerline is valid? [True, True] Translation: X:319.76, Y:-13.73, Z:-7.02 [[ 9.99819033e-01 1.41333489e-02 1.27337970e-02 3.19760344e+02] [-1.41259600e-02 9.99899999e-01 -6.70017627e-04 -1.37288775e+01] [-1.27419932e-02 4.90019268e-04 9.99918697e-01 -7.01672448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00439141799995 meters 0.021071792015195212 Centerline is valid? [True, True] Translation: X:319.82, Y:-13.72, Z:-7.02 [[ 9.99644181e-01 2.29556340e-02 1.35849487e-02 3.19821945e+02] [-2.29480382e-02 9.99736404e-01 -7.14768302e-04 -1.37193183e+01] [-1.35977757e-02 4.02766051e-04 9.99907465e-01 -7.01699053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06439141799996 meters 0.018947364113403063 Centerline is valid? [True, True] Translation: X:319.88, Y:-13.72, Z:-7.02 [[ 9.99488708e-01 2.84753029e-02 1.45423640e-02 3.19882093e+02] [-2.84671766e-02 9.99594435e-01 -7.65538809e-04 -1.37150866e+01] [-1.45582651e-02 3.51167351e-04 9.99893961e-01 -7.01754407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12439141799996 meters 0.016457544134572812 Centerline is valid? [True, True] Translation: X:319.94, Y:-13.71, Z:-7.02 [[ 9.99208804e-01 3.60383362e-02 1.68227271e-02 3.19941304e+02] [-3.60285461e-02 9.99350370e-01 -8.84765109e-04 -1.37102887e+01] [-1.68436840e-02 2.77966689e-04 9.99858096e-01 -7.01796425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18439141799996 meters 0.014424841069805976 Centerline is valid? [True, True] Translation: X:320.00, Y:-13.70, Z:-7.02 [[ 9.98927697e-01 4.26618050e-02 1.79840418e-02 3.20000524e+02] [-4.26517003e-02 9.99089555e-01 -9.45227629e-04 -1.37048410e+01] [-1.80079935e-02 1.77164097e-04 9.99837827e-01 -7.01912949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24439141799996 meters 0.013879471623696115 Centerline is valid? [True, True] Translation: X:320.06, Y:-13.71, Z:-7.02 [[ 9.98844515e-01 4.45318009e-02 1.80708195e-02 3.20059303e+02] [-4.45219296e-02 9.99007957e-01 -9.48394073e-04 -1.37050438e+01] [-1.80951262e-02 1.42750463e-04 9.99836260e-01 -7.02041939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30439141799997 meters 0.013409873135586581 Centerline is valid? [True, True] Translation: X:320.12, Y:-13.70, Z:-7.02 [[ 9.98664822e-01 4.81452042e-02 1.87246568e-02 3.20118569e+02] [-4.81352693e-02 9.98840344e-01 -9.81172228e-04 -1.37033081e+01] [-1.87501814e-02 7.85457872e-05 9.99824197e-01 -7.02238230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36439141799997 meters 0.013506612740319108 Centerline is valid? [True, True] Translation: X:320.18, Y:-13.71, Z:-7.03 [[ 9.98715428e-01 4.75233487e-02 1.75791309e-02 3.20176884e+02] [-4.75145185e-02 9.98870124e-01 -9.19870920e-04 -1.37061140e+01] [-1.76029840e-02 8.34253411e-05 9.99845052e-01 -7.02532112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42439141799997 meters 0.013973771903276146 Centerline is valid? [True, True] Translation: X:320.23, Y:-13.71, Z:-7.03 [[ 9.98842050e-01 4.49433901e-02 1.71654137e-02 3.20234244e+02] [-4.49346103e-02 9.98989528e-01 -8.97028377e-04 -1.37112979e+01] [-1.71883840e-02 1.24668488e-04 9.99852261e-01 -7.02800842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484391418 meters 0.015130025638301488 Centerline is valid? [True, True] Translation: X:320.29, Y:-13.72, Z:-7.03 [[ 9.99090930e-01 3.94620199e-02 1.61264627e-02 3.20292560e+02] [-3.94535808e-02 9.99221050e-01 -8.41241194e-04 -1.37188080e+01] [-1.61470980e-02 2.04229749e-04 9.99869606e-01 -7.03036484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544391418 meters 0.016106487260436498 Centerline is valid? [True, True] Translation: X:320.35, Y:-13.73, Z:-7.03 [[ 9.99234866e-01 3.58541204e-02 1.56257557e-02 3.20350625e+02] [-3.58457724e-02 9.99357002e-01 -8.14083637e-04 -1.37251215e+01] [-1.56448966e-02 2.53343473e-04 9.99877579e-01 -7.03264591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604391418 meters 0.018913270217980796 Centerline is valid? [True, True] Translation: X:320.41, Y:-13.73, Z:-7.04 [[ 9.99426859e-01 3.04634281e-02 1.47625516e-02 3.20409204e+02] [-3.04554130e-02 9.99535832e-01 -7.67490677e-04 -1.37332967e+01] [-1.47790797e-02 3.17451189e-04 9.99890733e-01 -7.03547835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664391418 meters 0.020993398628796418 Centerline is valid? [True, True] Translation: X:320.47, Y:-13.74, Z:-7.04 [[ 9.99594994e-01 2.46840410e-02 1.41614344e-02 3.20468386e+02] [-2.46760988e-02 9.99695228e-01 -7.35323046e-04 -1.37398843e+01] [-1.41752691e-02 3.85576282e-04 9.99899451e-01 -7.03683179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724391418 meters 0.025351727397258807 Centerline is valid? [True, True] Translation: X:320.53, Y:-13.75, Z:-7.04 [[ 9.99701807e-01 2.00785211e-02 1.38978775e-02 3.20526772e+02] [-2.00704424e-02 9.99798309e-01 -7.20532511e-04 -1.37500176e+01] [-1.39095417e-02 4.41381102e-04 9.99903160e-01 -7.03910322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784391418 meters 0.027204159485579357 Centerline is valid? [True, True] Translation: X:320.59, Y:-13.76, Z:-7.04 [[ 9.99824009e-01 1.25047866e-02 1.39850276e-02 3.20587373e+02] [-1.24958569e-02 9.99921660e-01 -7.25725160e-04 -1.37570686e+01] [-1.39930070e-02 5.50842536e-04 9.99901941e-01 -7.03982108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844391418 meters 0.030658851775950402 Centerline is valid? [True, True] Translation: X:320.65, Y:-13.77, Z:-7.04 [[ 9.99868296e-01 5.75129881e-03 1.51760893e-02 3.20647396e+02] [-5.74000513e-03 9.99983216e-01 -7.87628897e-04 -1.37660568e+01] [-1.51803645e-02 7.00414332e-04 9.99884526e-01 -7.03983226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904391418 meters 0.03285701307633306 Centerline is valid? [True, True] Translation: X:320.71, Y:-13.77, Z:-7.04 [[ 9.99883789e-01 2.43764646e-03 1.50487794e-02 3.20708254e+02] [-2.42616769e-03 9.99996752e-01 -7.80979614e-04 -1.37726794e+01] [-1.50506343e-02 7.44377993e-04 9.99886456e-01 -7.04165726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96439141799993 meters 0.03357829470142465 Centerline is valid? [True, True] Translation: X:320.77, Y:-13.78, Z:-7.04 [[ 9.99905417e-01 -5.88506158e-04 1.37408563e-02 3.20769191e+02] [ 5.98364306e-04 9.99999567e-01 -7.13333102e-04 -1.37772046e+01] [-1.37404305e-02 7.21487671e-04 9.99905336e-01 -7.04361503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02439141799994 meters 0.03467020579248288 Centerline is valid? [True, True] Translation: X:320.83, Y:-13.78, Z:-7.05 [[ 9.99916944e-01 -8.93638852e-04 1.28571656e-02 3.20831505e+02] [ 9.02290813e-04 9.99999370e-01 -6.67144184e-04 -1.37817913e+01] [-1.28565614e-02 6.78689676e-04 9.99917121e-01 -7.04593473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08439141799994 meters 0.03213340127042216 Centerline is valid? [True, True] Translation: X:320.89, Y:-13.78, Z:-7.05 [[ 9.99930729e-01 1.88487600e-03 1.16182949e-02 3.20892778e+02] [-1.87798475e-03 9.99998054e-01 -6.04019300e-04 -1.37797363e+01] [-1.16194108e-02 5.82158479e-04 9.99932323e-01 -7.04753180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14439141799994 meters 0.0290139060367073 Centerline is valid? [True, True] Translation: X:320.95, Y:-13.78, Z:-7.05 [[ 9.99913304e-01 6.76544675e-03 1.12966084e-02 3.20953945e+02] [-6.75923527e-03 9.99976983e-01 -5.87943094e-04 -1.37758903e+01] [-1.13003261e-02 5.11535687e-04 9.99936018e-01 -7.04838160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20439141799994 meters 0.02459847696160539 Centerline is valid? [True, True] Translation: X:321.02, Y:-13.77, Z:-7.05 [[ 9.99799087e-01 1.59223343e-02 1.21764071e-02 3.21015078e+02] [-1.59157895e-02 9.99873135e-01 -6.34219874e-04 -1.37677056e+01] [-1.21849606e-02 4.40295320e-04 9.99925664e-01 -7.04796585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26439141799995 meters 0.022237861910376338 Centerline is valid? [True, True] Translation: X:321.08, Y:-13.76, Z:-7.05 [[ 9.99631895e-01 2.40584763e-02 1.25405016e-02 3.21075139e+02] [-2.40521737e-02 9.99710491e-01 -6.53172540e-04 -1.37633360e+01] [-1.25525854e-02 3.51305780e-04 9.99921151e-01 -7.04898020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32439141799995 meters 0.016234636029924907 Centerline is valid? [True, True] Translation: X:321.14, Y:-13.75, Z:-7.05 [[ 9.99247493e-01 3.59884228e-02 1.44665609e-02 3.21136409e+02] [-3.59812842e-02 9.99352180e-01 -7.53510289e-04 -1.37502461e+01] [-1.44843068e-02 2.32417828e-04 9.99895070e-01 -7.04759060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38439141799995 meters 0.014318509912143383 Centerline is valid? [True, True] Translation: X:321.20, Y:-13.74, Z:-7.05 [[ 9.98872647e-01 4.48274899e-02 1.56183074e-02 3.21196245e+02] [-4.48202451e-02 9.98994736e-01 -8.13763628e-04 -1.37437823e+01] [-1.56390858e-02 1.12829865e-04 9.99877696e-01 -7.04860282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44439141799995 meters 0.013815780842119594 Centerline is valid? [True, True] Translation: X:321.25, Y:-13.74, Z:-7.05 [[ 9.98724975e-01 4.83239355e-02 1.46020986e-02 3.21254195e+02] [-4.83179838e-02 9.98831715e-01 -7.60311371e-04 -1.37428909e+01] [-1.46217804e-02 5.37979926e-05 9.99893095e-01 -7.05114697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50439141799995 meters 0.014209011509659536 Centerline is valid? [True, True] Translation: X:321.31, Y:-13.74, Z:-7.05 [[ 9.98555884e-01 5.21539927e-02 1.28882551e-02 3.21313457e+02] [-5.21496905e-02 9.98639054e-01 -6.69883052e-04 -1.37409902e+01] [-1.29056520e-02 -3.20285345e-06 9.99916719e-01 -7.05424218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56439141799996 meters 0.014650705861437964 Centerline is valid? [True, True] Translation: X:321.37, Y:-13.74, Z:-7.06 [[ 9.98382425e-01 5.56092691e-02 1.18381582e-02 3.21370945e+02] [-5.56058841e-02 9.98452606e-01 -6.15152755e-04 -1.37406588e+01] [-1.18540481e-02 -4.41135539e-05 9.99929737e-01 -7.05669740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62439141799996 meters 0.014563301755688606 Centerline is valid? [True, True] Translation: X:321.43, Y:-13.74, Z:-7.06 [[ 9.98261681e-01 5.75553838e-02 1.26883378e-02 3.21428518e+02] [-5.75516791e-02 9.98342312e-01 -6.57217196e-04 -1.37426313e+01] [-1.27051309e-02 -7.41604058e-05 9.99919284e-01 -7.05531487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68439141799996 meters 0.014906263423986847 Centerline is valid? [True, True] Translation: X:321.49, Y:-13.75, Z:-7.05 [[ 9.98136165e-01 5.91205982e-02 1.51310945e-02 3.21486115e+02] [-5.91155477e-02 9.98250841e-01 -7.81221206e-04 -1.37454312e+01] [-1.51508140e-02 -1.14717798e-04 9.99885213e-01 -7.05491362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74439141799996 meters 0.014784064511962739 Centerline is valid? [True, True] Translation: X:321.54, Y:-13.75, Z:-7.06 [[ 9.98223573e-01 5.73745461e-02 1.60580095e-02 3.21543233e+02] [-5.73686602e-02 9.98352719e-01 -8.27324242e-04 -1.37518835e+01] [-1.60790248e-02 -9.53719294e-05 9.99870720e-01 -7.05556731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80439141799997 meters 0.013959678246314094 Centerline is valid? [True, True] Translation: X:321.60, Y:-13.76, Z:-7.06 [[ 9.98516767e-01 5.22215831e-02 1.54004067e-02 3.21601255e+02] [-5.22155805e-02 9.98635522e-01 -7.91877713e-04 -1.37630273e+01] [-1.54207463e-02 -1.34380022e-05 9.99881093e-01 -7.05758488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86439141799997 meters 0.014011467398427103 Centerline is valid? [True, True] Translation: X:321.66, Y:-13.77, Z:-7.06 [[ 9.98755521e-01 4.77675483e-02 1.43412461e-02 3.21658463e+02] [-4.77618960e-02 9.98858478e-01 -7.36568812e-04 -1.37727942e+01] [-1.43600594e-02 5.06870604e-05 9.99896888e-01 -7.06018578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92439141799997 meters 0.014620896000714966 Centerline is valid? [True, True] Translation: X:321.72, Y:-13.79, Z:-7.06 [[ 9.99027969e-01 4.20174289e-02 1.33286162e-02 3.21716287e+02] [-4.20120514e-02 9.99116870e-01 -6.83310062e-04 -1.37855433e+01] [-1.33455563e-02 1.22683352e-04 9.99910937e-01 -7.06201696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984391418 meters 0.014830339115675432 Centerline is valid? [True, True] Translation: X:321.77, Y:-13.79, Z:-7.06 [[ 9.99113199e-01 3.99387385e-02 1.33308648e-02 3.21774573e+02] [-3.99331879e-02 9.99202119e-01 -6.82402703e-04 -1.37931572e+01] [-1.33474826e-02 1.49453620e-04 9.99910907e-01 -7.06303607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044391418 meters 0.015056384110074417 Centerline is valid? [True, True] Translation: X:321.83, Y:-13.80, Z:-7.06 [[ 9.99112921e-01 3.96968087e-02 1.40546901e-02 3.21832185e+02] [-3.96906304e-02 9.99211758e-01 -7.18366198e-04 -1.38010188e+01] [-1.40721285e-02 1.59889441e-04 9.99900970e-01 -7.06342665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104391418 meters 0.014795976508332326 Centerline is valid? [True, True] Translation: X:321.89, Y:-13.81, Z:-7.06 [[ 9.98996881e-01 4.23439989e-02 1.45676844e-02 3.21890890e+02] [-4.23376674e-02 9.99103083e-01 -7.42892617e-04 -1.38063363e+01] [-1.45860754e-02 1.25385632e-04 9.99893610e-01 -7.06425271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164391418 meters 0.014469014134705896 Centerline is valid? [True, True] Translation: X:321.95, Y:-13.81, Z:-7.07 [[ 9.98928174e-01 4.40131100e-02 1.43300185e-02 3.21949673e+02] [-4.40071707e-02 9.99030949e-01 -7.29682430e-04 -1.38093547e+01] [-1.43482476e-02 9.82767679e-05 9.99897054e-01 -7.06569172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224391418 meters 0.014203983730233781 Centerline is valid? [True, True] Translation: X:322.01, Y:-13.81, Z:-7.07 [[ 9.98701905e-01 4.91532116e-02 1.33591542e-02 3.22008763e+02] [-4.91485218e-02 9.98791250e-01 -6.79333896e-04 -1.38125896e+01] [-1.33763978e-02 2.18693749e-05 9.99910532e-01 -7.06748713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284391418 meters 0.014490606816961779 Centerline is valid? [True, True] Translation: X:322.07, Y:-13.82, Z:-7.07 [[ 9.98536765e-01 5.27349312e-02 1.19731649e-02 3.22067691e+02] [-5.27314306e-02 9.98608545e-01 -6.08087548e-04 -1.38179683e+01] [-1.19885723e-02 -2.41643436e-05 9.99928134e-01 -7.06981878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344391418 meters 0.014727893673966097 Centerline is valid? [True, True] Translation: X:322.13, Y:-13.82, Z:-7.07 [[ 9.98482380e-01 5.37756212e-02 1.18794032e-02 3.22125885e+02] [-5.37722601e-02 9.98553044e-01 -6.02381024e-04 -1.38238199e+01] [-1.18946077e-02 -3.73155218e-05 9.99929256e-01 -7.07127644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404391418 meters 0.014922860118980785 Centerline is valid? [True, True] Translation: X:322.18, Y:-13.83, Z:-7.07 [[ 9.98485681e-01 5.35734609e-02 1.24991504e-02 3.22184772e+02] [-5.35697378e-02 9.98563910e-01 -6.32721819e-04 -1.38322777e+01] [-1.25150976e-02 -3.78125341e-05 9.99921682e-01 -7.07190349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46439141799993 meters 0.014676382297123727 Centerline is valid? [True, True] Translation: X:322.24, Y:-13.84, Z:-7.07 [[ 9.98589130e-01 5.15532508e-02 1.27284195e-02 3.22242137e+02] [-5.15492326e-02 9.98670247e-01 -6.43793180e-04 -1.38421913e+01] [-1.27446835e-02 -1.32553883e-05 9.99918783e-01 -7.07275376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52439141799994 meters 0.014664879806531621 Centerline is valid? [True, True] Translation: X:322.30, Y:-13.85, Z:-7.07 [[ 9.98694183e-01 4.95355783e-02 1.24962468e-02 3.22299985e+02] [-4.95315683e-02 9.98772360e-01 -6.30371193e-04 -1.38490195e+01] [-1.25121317e-02 1.05893413e-05 9.99921720e-01 -7.07303070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58439141799994 meters 0.01489352673716146 Centerline is valid? [True, True] Translation: X:322.36, Y:-13.86, Z:-7.07 [[ 9.98928494e-01 4.41903379e-02 1.37505424e-02 3.22358046e+02] [-4.41850065e-02 9.99023126e-01 -6.91426388e-04 -1.38597224e+01] [-1.37676642e-02 8.31177178e-05 9.99905218e-01 -7.07344297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64439141799994 meters 0.015765355375726618 Centerline is valid? [True, True] Translation: X:322.42, Y:-13.87, Z:-7.07 [[ 9.99153688e-01 3.83984222e-02 1.47468129e-02 3.22416335e+02] [-3.83916781e-02 9.99262494e-01 -7.40247494e-04 -1.38693448e+01] [-1.47643613e-02 1.73466121e-04 9.99890986e-01 -7.07395086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70439141799994 meters 0.02047480385154378 Centerline is valid? [True, True] Translation: X:322.47, Y:-13.89, Z:-7.08 [[ 9.99545904e-01 2.64580938e-02 1.44206414e-02 3.22474527e+02] [-2.64504227e-02 9.99649865e-01 -7.22448931e-04 -1.38869009e+01] [-1.44347068e-02 3.40688810e-04 9.99895756e-01 -7.07676628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76439141799995 meters 0.027285288940925877 Centerline is valid? [True, True] Translation: X:322.53, Y:-13.91, Z:-7.08 [[ 9.99810213e-01 1.31166325e-02 1.44045589e-02 3.22534308e+02] [-1.31076127e-02 9.99913832e-01 -7.20413034e-04 -1.39063083e+01] [-1.44127671e-02 5.31466930e-04 9.99895989e-01 -7.07909565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82439141799995 meters 0.03245238856733989 Centerline is valid? [True, True] Translation: X:322.59, Y:-13.92, Z:-7.08 [[ 9.99881562e-01 4.22732461e-03 1.47983713e-02 3.22594093e+02] [-4.21681725e-03 9.99990835e-01 -7.41165485e-04 -1.39192873e+01] [-1.48013688e-02 6.78675676e-04 9.99890223e-01 -7.07993699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88439141799995 meters 0.04056894548069361 Centerline is valid? [True, True] Translation: X:322.65, Y:-13.94, Z:-7.08 [[ 9.99858378e-01 -6.42910511e-03 1.55528288e-02 3.22652636e+02] [ 6.44199989e-03 9.99978947e-01 -7.79138669e-04 -1.39360773e+01] [-1.55474922e-02 8.79219647e-04 9.99878744e-01 -7.08112234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94439141799995 meters 0.03822381171945771 Centerline is valid? [True, True] Translation: X:322.71, Y:-13.94, Z:-7.08 [[ 9.99802483e-01 -1.28845412e-02 1.51322341e-02 3.22712671e+02] [ 1.28974808e-02 9.99916537e-01 -7.57819830e-04 -1.39362513e+01] [-1.51212069e-02 9.52837846e-04 9.99885214e-01 -7.08189673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00439141799995 meters 0.04196571906204664 Centerline is valid? [True, True] Translation: X:322.77, Y:-13.94, Z:-7.08 [[ 9.99786566e-01 -1.36699025e-02 1.54905114e-02 3.22773531e+02] [ 1.36835349e-02 9.99906076e-01 -7.74398721e-04 -1.39422126e+01] [-1.54784706e-02 9.86198392e-04 9.99879715e-01 -7.08266359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06439141799996 meters 0.039464250070280246 Centerline is valid? [True, True] Translation: X:322.84, Y:-13.94, Z:-7.08 [[ 9.99815939e-01 -1.18841241e-02 1.50617387e-02 3.22835153e+02] [ 1.18968541e-02 9.99928944e-01 -7.55865076e-04 -1.39398964e+01] [-1.50516857e-02 9.34913258e-04 9.99886280e-01 -7.08373378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12439141799996 meters 0.03461738592520275 Centerline is valid? [True, True] Translation: X:322.90, Y:-13.93, Z:-7.08 [[ 9.99863630e-01 -7.03087003e-03 1.49428257e-02 3.22895909e+02] [ 7.04287167e-03 9.99974917e-01 -7.50698386e-04 -1.39324393e+01] [-1.49371728e-02 8.55836416e-04 9.99888068e-01 -7.08441039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18439141799996 meters 0.03425604692658433 Centerline is valid? [True, True] Translation: X:322.96, Y:-13.93, Z:-7.09 [[ 9.99888498e-01 -3.10410274e-03 1.46067192e-02 3.22956138e+02] [ 3.11515653e-03 9.99994878e-01 -7.34069430e-04 -1.39319908e+01] [-1.46043658e-02 7.79489797e-04 9.99893047e-01 -7.08637803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24439141799996 meters 0.030755285508119595 Centerline is valid? [True, True] Translation: X:323.02, Y:-13.92, Z:-7.09 [[ 9.99888964e-01 4.08099450e-03 1.43319410e-02 3.23017526e+02] [-4.07108964e-03 9.99991454e-01 -7.20211319e-04 -1.39234707e+01] [-1.43347577e-02 6.61784734e-04 9.99897033e-01 -7.08731590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30439141799997 meters 0.02573601783951537 Centerline is valid? [True, True] Translation: X:323.08, Y:-13.91, Z:-7.09 [[ 9.99810936e-01 1.22469765e-02 1.51031175e-02 3.23078473e+02] [-1.22369047e-02 9.99924838e-01 -7.59107476e-04 -1.39132255e+01] [-1.51112791e-02 5.74148546e-04 9.99885653e-01 -7.08739239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36439141799997 meters 0.02207745977195112 Centerline is valid? [True, True] Translation: X:323.14, Y:-13.90, Z:-7.09 [[ 9.99662941e-01 2.12135044e-02 1.49663284e-02 3.23139264e+02] [-2.12046179e-02 9.99774874e-01 -7.52219609e-04 -1.39044391e+01] [-1.49789163e-02 4.34610792e-04 9.99887715e-01 -7.08835027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42439141799997 meters 0.018331394160134327 Centerline is valid? [True, True] Translation: X:323.20, Y:-13.90, Z:-7.09 [[ 9.99516131e-01 2.73888788e-02 1.47428695e-02 3.23200095e+02] [-2.73809256e-02 9.99624797e-01 -7.41074943e-04 -1.38967083e+01] [-1.47576352e-02 3.37042947e-04 9.99891043e-01 -7.08884864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484391418 meters 0.016034153817198415 Centerline is valid? [True, True] Translation: X:323.26, Y:-13.89, Z:-7.09 [[ 9.99166093e-01 3.81459839e-02 1.45602786e-02 3.23259610e+02] [-3.81393634e-02 9.99272162e-01 -7.32202840e-04 -1.38887107e+01] [-1.45776117e-02 1.76272493e-04 9.99893725e-01 -7.09049314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544391418 meters 0.014722858274795437 Centerline is valid? [True, True] Translation: X:323.32, Y:-13.88, Z:-7.09 [[ 9.98902356e-01 4.43723519e-02 1.50058881e-02 3.23319116e+02] [-4.43660298e-02 9.99015058e-01 -7.54102396e-04 -1.38844240e+01] [-1.50245694e-02 8.75229834e-05 9.99887121e-01 -7.09087845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604391418 meters 0.014560533682133094 Centerline is valid? [True, True] Translation: X:323.38, Y:-13.88, Z:-7.09 [[ 9.98598097e-01 5.02829483e-02 1.65368105e-02 3.23378349e+02] [-5.02760974e-02 9.98735012e-01 -8.30016056e-04 -1.38809803e+01] [-1.65576273e-02 -2.55384172e-06 9.99862913e-01 -7.09084989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664391418 meters 0.0145517200698901 Centerline is valid? [True, True] Translation: X:323.44, Y:-13.88, Z:-7.09 [[ 9.98572000e-01 5.02986456e-02 1.80002140e-02 3.23436967e+02] [-5.02905597e-02 9.98734222e-01 -9.01874387e-04 -1.38841158e+01] [-1.80227927e-02 -4.65432527e-06 9.99837576e-01 -7.09186975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724391418 meters 0.014661425609652327 Centerline is valid? [True, True] Translation: X:323.49, Y:-13.89, Z:-7.09 [[ 9.98707232e-01 4.71814808e-02 1.89148844e-02 3.23494266e+02] [-4.71720222e-02 9.98886332e-01 -9.46162631e-04 -1.38906175e+01] [-1.89384608e-02 5.26861159e-05 9.99820650e-01 -7.09327763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784391418 meters 0.016102327000860835 Centerline is valid? [True, True] Translation: X:323.55, Y:-13.90, Z:-7.09 [[ 9.99049115e-01 3.88874790e-02 1.97137070e-02 3.23552679e+02] [-3.88756353e-02 9.99243572e-01 -9.83807150e-04 -1.39034317e+01] [-1.97370528e-02 2.16488779e-04 9.99805182e-01 -7.09480531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844391418 meters 0.01913964501619259 Centerline is valid? [True, True] Translation: X:323.61, Y:-13.92, Z:-7.10 [[ 9.99405985e-01 2.84345015e-02 1.94719141e-02 3.23611712e+02] [-2.84209934e-02 9.99595571e-01 -9.70157269e-04 -1.39186547e+01] [-1.94916250e-02 4.16169840e-04 9.99809934e-01 -7.09657755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904391418 meters 0.022668021469024035 Centerline is valid? [True, True] Translation: X:323.67, Y:-13.93, Z:-7.10 [[ 9.99565627e-01 2.24107073e-02 1.91394115e-02 3.23671287e+02] [-2.23965693e-02 9.99748711e-01 -9.52741028e-04 -1.39311838e+01] [-1.91559536e-02 5.23670025e-04 9.99816371e-01 -7.09862527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96439141799993 meters 0.026432339741560652 Centerline is valid? [True, True] Translation: X:323.73, Y:-13.94, Z:-7.10 [[ 9.99670891e-01 1.68014379e-02 1.93861294e-02 3.23730356e+02] [-1.67858751e-02 9.99858641e-01 -9.65233113e-04 -1.39446986e+01] [-1.93996063e-02 6.39502300e-04 9.99811605e-01 -7.10083974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02439141799994 meters 0.024955204768314507 Centerline is valid? [True, True] Translation: X:323.79, Y:-13.95, Z:-7.10 [[ 9.99667277e-01 1.57169084e-02 2.04527478e-02 3.23792150e+02] [-1.56993273e-02 9.99876238e-01 -1.01988466e-03 -1.39484887e+01] [-2.04662459e-02 6.98450942e-04 9.99790300e-01 -7.10161804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08439141799994 meters 0.024869556802262747 Centerline is valid? [True, True] Translation: X:323.85, Y:-13.95, Z:-7.10 [[ 9.99653390e-01 1.65049126e-02 2.05106907e-02 3.23853917e+02] [-1.64872793e-02 9.99863547e-01 -1.02852517e-03 -1.39518224e+01] [-2.05248677e-02 6.90003180e-04 9.99789105e-01 -7.10273118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14439141799994 meters 0.02452292541443565 Centerline is valid? [True, True] Translation: X:323.92, Y:-13.95, Z:-7.10 [[ 9.99629927e-01 1.84615395e-02 1.99794978e-02 3.23916074e+02] [-1.84450900e-02 9.99829367e-01 -1.00730558e-03 -1.39540336e+01] [-1.99946850e-02 6.38409170e-04 9.99799882e-01 -7.10425699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20439141799994 meters 0.023485798758675954 Centerline is valid? [True, True] Translation: X:323.98, Y:-13.96, Z:-7.11 [[ 9.99605985e-01 2.10946501e-02 1.85172767e-02 3.23978002e+02] [-2.10808854e-02 9.99777333e-01 -9.38249958e-04 -1.39566908e+01] [-1.85329456e-02 5.47519686e-04 9.99828100e-01 -7.10813650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26439141799995 meters 0.02174378916485563 Centerline is valid? [True, True] Translation: X:324.04, Y:-13.96, Z:-7.11 [[ 9.99589281e-01 2.28218728e-02 1.73329444e-02 3.24039827e+02] [-2.28099970e-02 9.99739429e-01 -8.82571388e-04 -1.39575898e+01] [-1.73485698e-02 4.86844490e-04 9.99849384e-01 -7.11009485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32439141799995 meters 0.02309046152318682 Centerline is valid? [True, True] Translation: X:324.10, Y:-13.96, Z:-7.11 [[ 9.99574214e-01 2.37347857e-02 1.69720803e-02 3.24101457e+02] [-2.37234506e-02 9.99718182e-01 -8.68916849e-04 -1.39616214e+01] [-1.69879208e-02 4.65910568e-04 9.99855586e-01 -7.11165037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38439141799995 meters 0.020292447633190738 Centerline is valid? [True, True] Translation: X:324.16, Y:-13.96, Z:-7.11 [[ 9.99540827e-01 2.57649394e-02 1.59468643e-02 3.24162902e+02] [-2.57551025e-02 9.99667944e-01 -8.21949344e-04 -1.39587332e+01] [-1.59627466e-02 4.10858802e-04 9.99872503e-01 -7.11257270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44439141799995 meters 0.02029536684334975 Centerline is valid? [True, True] Translation: X:324.22, Y:-13.96, Z:-7.11 [[ 9.99493986e-01 2.77520449e-02 1.55433275e-02 3.24222268e+02] [-2.77429239e-02 9.99614769e-01 -8.02164650e-04 -1.39599935e+01] [-1.55596015e-02 3.70541390e-04 9.99878873e-01 -7.11325264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50439141799995 meters 0.01983553904540495 Centerline is valid? [True, True] Translation: X:324.28, Y:-13.96, Z:-7.11 [[ 9.99433026e-01 2.93637648e-02 1.64740768e-02 3.24281738e+02] [-2.93537417e-02 9.99568725e-01 -8.49944884e-04 -1.39607456e+01] [-1.64919295e-02 3.65887194e-04 9.99863932e-01 -7.11270302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56439141799996 meters 0.018400925348530543 Centerline is valid? [True, True] Translation: X:324.34, Y:-13.96, Z:-7.11 [[ 9.99301202e-01 3.24505955e-02 1.85490185e-02 3.24341728e+02] [-3.24384351e-02 9.99473278e-01 -9.56163647e-04 -1.39597074e+01] [-1.85702764e-02 3.53794349e-04 9.99827495e-01 -7.11104544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62439141799996 meters 0.01752099723310092 Centerline is valid? [True, True] Translation: X:324.40, Y:-13.96, Z:-7.11 [[ 9.99182777e-01 3.53604379e-02 1.95810608e-02 3.24401225e+02] [-3.53474610e-02 9.99374574e-01 -1.00853869e-03 -1.39601071e+01] [-1.96044766e-02 3.15573705e-04 9.99807764e-01 -7.11128570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68439141799996 meters 0.01605397963165579 Centerline is valid? [True, True] Translation: X:324.46, Y:-13.96, Z:-7.11 [[ 9.99021941e-01 3.97937371e-02 1.92774600e-02 3.24460652e+02] [-3.97819978e-02 9.99207890e-01 -9.92216607e-04 -1.39573700e+01] [-1.93016742e-02 2.24350288e-04 9.99813680e-01 -7.11233038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74439141799996 meters 0.015489441487267339 Centerline is valid? [True, True] Translation: X:324.52, Y:-13.96, Z:-7.11 [[ 9.98938974e-01 4.21655507e-02 1.85200847e-02 3.24519424e+02] [-4.21551417e-02 9.99110623e-01 -9.52243111e-04 -1.39584033e+01] [-1.85437652e-02 1.70515960e-04 9.99828035e-01 -7.11398908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80439141799997 meters 0.015646283901413708 Centerline is valid? [True, True] Translation: X:324.58, Y:-13.96, Z:-7.11 [[ 9.98946177e-01 4.19191091e-02 1.86901836e-02 3.24577437e+02] [-4.19084924e-02 9.99120992e-01 -9.59519658e-04 -1.39639791e+01] [-1.87139770e-02 1.75231077e-04 9.99824863e-01 -7.11498744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86439141799997 meters 0.015799385883303048 Centerline is valid? [True, True] Translation: X:324.64, Y:-13.97, Z:-7.12 [[ 9.98987715e-01 4.08116494e-02 1.89196773e-02 3.24636268e+02] [-4.08006090e-02 9.99166838e-01 -9.69334423e-04 -1.39690342e+01] [-1.89434743e-02 1.96418822e-04 9.99820537e-01 -7.11603805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92439141799997 meters 0.01634408393980301 Centerline is valid? [True, True] Translation: X:324.70, Y:-13.98, Z:-7.12 [[ 9.99066506e-01 3.90092897e-02 1.85578226e-02 3.24695136e+02] [-3.89983840e-02 9.99238823e-01 -9.49331424e-04 -1.39763868e+01] [-1.85807295e-02 2.24720137e-04 9.99827338e-01 -7.11812458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984391418 meters 0.01669151324697712 Centerline is valid? [True, True] Translation: X:324.75, Y:-13.98, Z:-7.12 [[ 9.99156724e-01 3.66904814e-02 1.84295601e-02 3.24754497e+02] [-3.66793608e-02 9.99326643e-01 -9.41186671e-04 -1.39835968e+01] [-1.84516830e-02 2.64408509e-04 9.99829718e-01 -7.11970114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044391418 meters 0.01880532800387741 Centerline is valid? [True, True] Translation: X:324.81, Y:-14.00, Z:-7.12 [[ 9.99375803e-01 3.02233294e-02 1.82908108e-02 3.24813493e+02] [-3.02113061e-02 9.99543099e-01 -9.33365623e-04 -1.39965633e+01] [-1.83106631e-02 3.80193736e-04 9.99832273e-01 -7.12159390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104391418 meters 0.023765064138154948 Centerline is valid? [True, True] Translation: X:324.87, Y:-14.01, Z:-7.12 [[ 9.99610835e-01 2.10377321e-02 1.83191806e-02 3.24872619e+02] [-2.10241461e-02 9.99778532e-01 -9.33925809e-04 -1.40136167e+01] [-1.83347712e-02 5.48417229e-04 9.99831754e-01 -7.12318489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164391418 meters 0.02781359137915153 Centerline is valid? [True, True] Translation: X:324.93, Y:-14.03, Z:-7.12 [[ 9.99731302e-01 1.38422119e-02 1.85934443e-02 3.24932483e+02] [-1.38269740e-02 9.99903954e-01 -9.47843556e-04 -1.40273610e+01] [-1.86047787e-02 6.90497801e-04 9.99826678e-01 -7.12473490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224391418 meters 0.03428346694047452 Centerline is valid? [True, True] Translation: X:324.99, Y:-14.04, Z:-7.13 [[ 9.99817896e-01 4.27957124e-03 1.85973263e-02 3.24992404e+02] [-4.26266862e-03 9.99990465e-01 -9.48419242e-04 -1.40441012e+01] [-1.86012078e-02 8.68972291e-04 9.99826605e-01 -7.12757969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284391418 meters 0.03290659857791557 Centerline is valid? [True, True] Translation: X:325.05, Y:-14.05, Z:-7.13 [[ 9.99799565e-01 -1.52437913e-03 1.99626344e-02 3.25052568e+02] [ 1.54501389e-03 9.99998288e-01 -1.01828713e-03 -1.40489656e+01] [-1.99610480e-02 1.04892557e-03 9.99800208e-01 -7.12584774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344391418 meters 0.03719870505935598 Centerline is valid? [True, True] Translation: X:325.11, Y:-14.06, Z:-7.13 [[ 9.99812786e-01 -5.25131397e-03 1.86230173e-02 3.25111862e+02] [ 5.26991287e-03 9.99985663e-01 -9.49770536e-04 -1.40606836e+01] [-1.86177628e-02 1.04773440e-03 9.99826125e-01 -7.12919099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404391418 meters 0.038834177004588036 Centerline is valid? [True, True] Translation: X:325.17, Y:-14.07, Z:-7.13 [[ 9.99827495e-01 -5.72018033e-03 1.76709010e-02 3.25172755e+02] [ 5.73702452e-03 9.99983136e-01 -9.02669913e-04 -1.40675191e+01] [-1.76654396e-02 1.00389259e-03 9.99843450e-01 -7.13214823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46439141799993 meters 0.03652301736452941 Centerline is valid? [True, True] Translation: X:325.24, Y:-14.07, Z:-7.13 [[ 9.99850011e-01 -4.04977656e-03 1.68390886e-02 3.25235543e+02] [ 4.06484803e-03 9.99991368e-01 -8.60898709e-04 -1.40673450e+01] [-1.68354568e-02 9.29217920e-04 9.99857842e-01 -7.13434522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52439141799994 meters 0.03612725635898279 Centerline is valid? [True, True] Translation: X:325.30, Y:-14.07, Z:-7.14 [[ 9.99884620e-01 -1.69748179e-03 1.50951834e-02 3.25296946e+02] [ 1.70935115e-03 9.99998240e-01 -7.73434028e-04 -1.40700378e+01] [-1.50938439e-02 7.99147759e-04 9.99885762e-01 -7.13770773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58439141799994 meters 0.031237117289734592 Centerline is valid? [True, True] Translation: X:325.36, Y:-14.06, Z:-7.14 [[ 9.99896923e-01 3.41014168e-03 1.39468413e-02 3.25357942e+02] [-3.40049714e-03 9.99993963e-01 -7.15177542e-04 -1.40641577e+01] [-1.39491959e-02 6.67677630e-04 9.99902482e-01 -7.13978529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64439141799994 meters 0.030185388089890804 Centerline is valid? [True, True] Translation: X:325.42, Y:-14.06, Z:-7.14 [[ 9.99855675e-01 8.09278570e-03 1.49377650e-02 3.25418252e+02] [-8.08223369e-03 9.99967044e-01 -7.66632607e-04 -1.40632564e+01] [-1.49434769e-02 6.45791455e-04 9.99888131e-01 -7.14082152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70439141799994 meters 0.025113875961356967 Centerline is valid? [True, True] Translation: X:325.48, Y:-14.06, Z:-7.14 [[ 9.99738547e-01 1.66896197e-02 1.56299461e-02 3.25479012e+02] [-1.66791159e-02 9.99860572e-01 -8.02152892e-04 -1.40551680e+01] [-1.56411545e-02 5.41249483e-04 9.99877523e-01 -7.14063525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76439141799995 meters 0.022017311598016315 Centerline is valid? [True, True] Translation: X:325.54, Y:-14.05, Z:-7.14 [[ 9.99605696e-01 2.32321573e-02 1.57708576e-02 3.25540404e+02] [-2.32222783e-02 9.99729999e-01 -8.09272825e-04 -1.40501246e+01] [-1.57854006e-02 4.42718481e-04 9.99875305e-01 -7.14153227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82439141799995 meters 0.01816181755578777 Centerline is valid? [True, True] Translation: X:325.60, Y:-14.04, Z:-7.14 [[ 9.99328882e-01 3.28353508e-02 1.62365479e-02 3.25601328e+02] [-3.28261387e-02 9.99460729e-01 -8.33621655e-04 -1.40414132e+01] [-1.62551642e-02 3.00079023e-04 9.99867831e-01 -7.14232945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88439141799995 meters 0.016023343125441805 Centerline is valid? [True, True] Translation: X:325.66, Y:-14.03, Z:-7.14 [[ 9.99014687e-01 4.11274247e-02 1.66790499e-02 3.25661928e+02] [-4.11188531e-02 9.99153895e-01 -8.56670482e-04 -1.40341030e+01] [-1.67001704e-02 1.70002988e-04 9.99860528e-01 -7.14259437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94439141799995 meters 0.015529978939494192 Centerline is valid? [True, True] Translation: X:325.72, Y:-14.03, Z:-7.14 [[ 9.98924489e-01 4.32945123e-02 1.65967172e-02 3.25721160e+02] [-4.32863392e-02 9.99062344e-01 -8.51531761e-04 -1.40343542e+01] [-1.66180219e-02 1.32204797e-04 9.99861902e-01 -7.14365812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00439141799995 meters 0.014832784860177353 Centerline is valid? [True, True] Translation: X:325.78, Y:-14.03, Z:-7.14 [[ 9.98727671e-01 4.76387813e-02 1.65404449e-02 3.25780185e+02] [-4.76312814e-02 9.98864627e-01 -8.47307185e-04 -1.40312888e+01] [-1.65620300e-02 5.83865451e-05 9.99862838e-01 -7.14478371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06439141799996 meters 0.014900098923153006 Centerline is valid? [True, True] Translation: X:325.84, Y:-14.03, Z:-7.15 [[ 9.98688044e-01 4.80189257e-02 1.77869199e-02 3.25837727e+02] [-4.80103403e-02 9.98846425e-01 -9.09626869e-04 -1.40330241e+01] [-1.78100807e-02 5.44774012e-05 9.99841386e-01 -7.14568865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12439141799996 meters 0.014968241148645854 Centerline is valid? [True, True] Translation: X:325.90, Y:-14.04, Z:-7.15 [[ 9.98761513e-01 4.62456959e-02 1.83514308e-02 3.25896202e+02] [-4.62362946e-02 9.98930092e-01 -9.36479463e-04 -1.40371564e+01] [-1.83751046e-02 8.68174848e-05 9.99831160e-01 -7.14664032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18439141799996 meters 0.015780371430637017 Centerline is valid? [True, True] Translation: X:325.95, Y:-14.04, Z:-7.15 [[ 9.98971308e-01 4.12874586e-02 1.87529247e-02 3.25953362e+02] [-4.12767953e-02 9.99147293e-01 -9.55493006e-04 -1.40444901e+01] [-1.87763838e-02 1.80449464e-04 9.99823692e-01 -7.14791579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24439141799996 meters 0.016729636371660486 Centerline is valid? [True, True] Translation: X:326.01, Y:-14.05, Z:-7.15 [[ 9.99182559e-01 3.59068556e-02 1.85718102e-02 3.26012765e+02] [-3.58955050e-02 9.99355103e-01 -9.44268081e-04 -1.40516286e+01] [-1.85937390e-02 2.76851691e-04 9.99827083e-01 -7.15015402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30439141799997 meters 0.02037628345947612 Centerline is valid? [True, True] Translation: X:326.07, Y:-14.07, Z:-7.15 [[ 9.99509633e-01 2.59473064e-02 1.75280268e-02 3.26071198e+02] [-2.59356766e-02 9.99663217e-01 -8.90527153e-04 -1.40650868e+01] [-1.75452305e-02 4.35489233e-04 9.99845976e-01 -7.15330987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36439141799997 meters 0.023700644102950894 Centerline is valid? [True, True] Translation: X:326.13, Y:-14.08, Z:-7.15 [[ 9.99666286e-01 1.89040506e-02 1.76055167e-02 3.26132097e+02] [-1.88912451e-02 9.99821145e-01 -8.93395822e-04 -1.40757406e+01] [-1.76192567e-02 5.60507552e-04 9.99844612e-01 -7.15482303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42439141799997 meters 0.029243671181110886 Centerline is valid? [True, True] Translation: X:326.19, Y:-14.09, Z:-7.16 [[ 9.99788302e-01 1.00672716e-02 1.79443659e-02 3.26190792e+02] [-1.00525296e-02 9.99949057e-01 -9.11550125e-04 -1.40880272e+01] [-1.79526285e-02 7.30970882e-04 9.99838571e-01 -7.15634923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484391418 meters 0.03309808152403344 Centerline is valid? [True, True] Translation: X:326.25, Y:-14.10, Z:-7.16 [[ 9.99821105e-01 3.84468459e-03 1.85196196e-02 3.26251263e+02] [-3.82792402e-03 9.99992231e-01 -9.40381231e-04 -1.40966610e+01] [-1.85230912e-02 8.69321305e-04 9.99828055e-01 -7.15736727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544391418 meters 0.036220959669705004 Centerline is valid? [True, True] Translation: X:326.31, Y:-14.10, Z:-7.16 [[ 9.99821656e-01 9.75759136e-04 1.88601185e-02 3.26311299e+02] [-9.57866394e-04 9.99999083e-01 -9.57718072e-04 -1.41034551e+01] [-1.88610357e-02 9.39481795e-04 9.99821673e-01 -7.15858426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604391418 meters 0.040182422538615425 Centerline is valid? [True, True] Translation: X:326.37, Y:-14.11, Z:-7.16 [[ 9.99816975e-01 -2.76250990e-03 1.89310820e-02 3.26371574e+02] [ 2.78121139e-03 9.99995670e-01 -9.61615358e-04 -1.41092413e+01] [-1.89283435e-02 1.01409070e-03 9.99820329e-01 -7.15908310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664391418 meters 0.04379976491088794 Centerline is valid? [True, True] Translation: X:326.43, Y:-14.11, Z:-7.16 [[ 9.99810593e-01 -5.82544970e-03 1.85699345e-02 3.26431025e+02] [ 5.84398758e-03 9.99982478e-01 -9.44164159e-04 -1.41142063e+01] [-1.85641089e-02 1.05250779e-03 9.99827118e-01 -7.16080529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724391418 meters 0.04591218555552046 Centerline is valid? [True, True] Translation: X:326.49, Y:-14.12, Z:-7.16 [[ 9.99814196e-01 -7.49923805e-03 1.77576909e-02 3.26493253e+02] [ 7.51644708e-03 9.99971344e-01 -9.02558186e-04 -1.41184831e+01] [-1.77504135e-02 1.03586523e-03 9.99841912e-01 -7.16315214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784391418 meters 0.04878222048339926 Centerline is valid? [True, True] Translation: X:326.55, Y:-14.12, Z:-7.17 [[ 9.99832856e-01 -9.30224785e-03 1.57393971e-02 3.26553237e+02] [ 9.31600992e-03 9.99956284e-01 -8.01276564e-04 -1.41212349e+01] [-1.57312553e-02 9.47771014e-04 9.99875807e-01 -7.16636184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844391418 meters 0.03941776807045849 Centerline is valid? [True, True] Translation: X:326.62, Y:-14.11, Z:-7.17 [[ 9.99858089e-01 -7.61577476e-03 1.50266970e-02 3.26616024e+02] [ 7.62812621e-03 9.99970613e-01 -7.64821885e-04 -1.41088481e+01] [-1.50204307e-02 8.79338890e-04 9.99886800e-01 -7.16646428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904391418 meters 0.03249975187305164 Centerline is valid? [True, True] Translation: X:326.68, Y:-14.10, Z:-7.17 [[ 9.99861375e-01 -4.08481480e-04 1.66452394e-02 3.26677417e+02] [ 4.22673496e-04 9.99999550e-01 -8.49108015e-04 -1.40955828e+01] [-1.66448850e-02 8.56025809e-04 9.99861098e-01 -7.16513872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96439141799993 meters 0.02731538804600774 Centerline is valid? [True, True] Translation: X:326.74, Y:-14.08, Z:-7.16 [[ 9.99761230e-01 1.07524918e-02 1.90227987e-02 3.26739212e+02] [-1.07359725e-02 9.99941897e-01 -9.70311028e-04 -1.40818604e+01] [-1.90321267e-02 7.65851104e-04 9.99818579e-01 -7.16311581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02439141799994 meters 0.023850298765973228 Centerline is valid? [True, True] Translation: X:326.80, Y:-14.07, Z:-7.16 [[ 9.99629618e-01 1.84699051e-02 1.99872303e-02 3.26800088e+02] [-1.84531996e-02 9.99829205e-01 -1.01993326e-03 -1.40742873e+01] [-2.00026547e-02 6.50727142e-04 9.99799715e-01 -7.16355713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08439141799994 meters 0.019994312698743875 Centerline is valid? [True, True] Translation: X:326.86, Y:-14.06, Z:-7.17 [[ 9.99399646e-01 2.83359413e-02 1.99354626e-02 3.26860773e+02] [-2.83212786e-02 9.99598354e-01 -1.01750614e-03 -1.40641607e+01] [-1.99562876e-02 4.52297481e-04 9.99800751e-01 -7.16554065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14439141799994 meters 0.01784217868471126 Centerline is valid? [True, True] Translation: X:326.92, Y:-14.06, Z:-7.17 [[ 9.99245765e-01 3.35987804e-02 1.94685300e-02 3.26921062e+02] [-3.35857964e-02 9.99435344e-01 -9.93593285e-04 -1.40592935e+01] [-1.94909205e-02 3.38977795e-04 9.99809977e-01 -7.16662355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20439141799994 meters 0.015373925235157343 Centerline is valid? [True, True] Translation: X:326.98, Y:-14.05, Z:-7.17 [[ 9.98998575e-01 4.05776019e-02 1.88495628e-02 3.26980218e+02] [-4.05666837e-02 9.99176371e-01 -9.61394390e-04 -1.40503684e+01] [-1.88730489e-02 1.95767373e-04 9.99821869e-01 -7.16807180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26439141799995 meters 0.014660547150854773 Centerline is valid? [True, True] Translation: X:327.04, Y:-14.05, Z:-7.17 [[ 9.98756597e-01 4.65413329e-02 1.78651775e-02 3.27039429e+02] [-4.65325039e-02 9.98916362e-01 -9.09795406e-04 -1.40467408e+01] [-1.78881613e-02 7.73527197e-05 9.99839991e-01 -7.17113581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32439141799995 meters 0.014558518415117114 Centerline is valid? [True, True] Translation: X:327.10, Y:-14.04, Z:-7.17 [[ 9.98533828e-01 5.12299143e-02 1.74839987e-02 3.27097970e+02] [-5.12222011e-02 9.98686886e-01 -8.88989147e-04 -1.40439953e+01] [-1.75065830e-02 -7.88315983e-06 9.99846748e-01 -7.17337669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38439141799995 meters 0.014384560640648136 Centerline is valid? [True, True] Translation: X:327.16, Y:-14.04, Z:-7.17 [[ 9.98450555e-01 5.27668020e-02 1.76678649e-02 3.27155014e+02] [-5.27591875e-02 9.98606861e-01 -8.97137453e-04 -1.40442657e+01] [-1.76905902e-02 -3.63948088e-05 9.99843509e-01 -7.17416845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44439141799995 meters 0.014539108855781666 Centerline is valid? [True, True] Translation: X:327.21, Y:-14.05, Z:-7.17 [[ 9.98511556e-01 5.11599377e-02 1.89032600e-02 3.27213393e+02] [-5.11509906e-02 9.98690473e-01 -9.56823410e-04 -1.40471202e+01] [-1.89274567e-02 -1.15212444e-05 9.99820860e-01 -7.17442368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50439141799995 meters 0.014215976098255857 Centerline is valid? [True, True] Translation: X:327.27, Y:-14.05, Z:-7.18 [[ 9.98685217e-01 4.74397213e-02 1.94244594e-02 3.27270701e+02] [-4.74295987e-02 9.98874101e-01 -9.81744062e-04 -1.40528994e+01] [-1.94491631e-02 5.91589656e-05 9.99810845e-01 -7.17513798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56439141799996 meters 0.015962772066821358 Centerline is valid? [True, True] Translation: X:327.33, Y:-14.07, Z:-7.18 [[ 9.99122055e-01 3.73746003e-02 1.89277167e-02 3.27328891e+02] [-3.73632276e-02 9.99301295e-01 -9.54249812e-04 -1.40655654e+01] [-1.89501566e-02 2.46211445e-04 9.99820399e-01 -7.17805252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62439141799996 meters 0.018987788123642848 Centerline is valid? [True, True] Translation: X:327.39, Y:-14.08, Z:-7.18 [[ 9.99401897e-01 2.89009288e-02 1.89890673e-02 3.27387200e+02] [-2.88879833e-02 9.99582198e-01 -9.55741773e-04 -1.40779977e+01] [-1.90087555e-02 4.06614281e-04 9.99819235e-01 -7.17991133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68439141799996 meters 0.024329038959967426 Centerline is valid? [True, True] Translation: X:327.45, Y:-14.09, Z:-7.18 [[ 9.99662541e-01 1.74514249e-02 1.92419303e-02 3.27446909e+02] [-1.74360385e-02 9.99847513e-01 -9.67120978e-04 -1.40947970e+01] [-1.92558738e-02 6.31291577e-04 9.99814389e-01 -7.18122195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74439141799996 meters 0.02992378303626643 Centerline is valid? [True, True] Translation: X:327.51, Y:-14.11, Z:-7.18 [[ 9.99785083e-01 8.15111012e-03 1.90616774e-02 3.27506625e+02] [-8.13431997e-03 9.99966457e-01 -9.58202446e-04 -1.41097830e+01] [-1.90688484e-02 8.02942728e-04 9.99817851e-01 -7.18315091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80439141799997 meters 0.03329901508671057 Centerline is valid? [True, True] Translation: X:327.57, Y:-14.12, Z:-7.19 [[ 9.99824835e-01 3.17693539e-03 1.84446846e-02 3.27567318e+02] [-3.16037009e-03 9.99994576e-01 -9.27185795e-04 -1.41202301e+01] [-1.84475302e-02 8.68731355e-04 9.99829452e-01 -7.18583368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86439141799997 meters 0.03157942814855191 Centerline is valid? [True, True] Translation: X:327.63, Y:-14.12, Z:-7.19 [[ 9.99835533e-01 -7.42054289e-04 1.81205901e-02 3.27628421e+02] [ 7.58690575e-04 9.99999297e-01 -9.11230172e-04 -1.41224325e+01] [-1.81199011e-02 9.24828226e-04 9.99835393e-01 -7.18735733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92439141799997 meters 0.03720088190361637 Centerline is valid? [True, True] Translation: X:327.69, Y:-14.13, Z:-7.19 [[ 9.99837474e-01 -2.87983509e-03 1.77969527e-02 3.27689078e+02] [ 2.89620819e-03 9.99995406e-01 -8.94289141e-04 -1.41344327e+01] [-1.77942956e-02 9.45687476e-04 9.99841222e-01 -7.18947808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984391418 meters 0.042603390861801746 Centerline is valid? [True, True] Translation: X:327.75, Y:-14.15, Z:-7.19 [[ 9.99841108e-01 -4.62828873e-03 1.72144662e-02 3.27750002e+02] [ 4.64395176e-03 9.99988838e-01 -8.70012649e-04 -1.41455562e+01] [-1.72102473e-02 9.49817562e-04 9.99851442e-01 -7.19263484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044391418 meters 0.03674867999050664 Centerline is valid? [True, True] Translation: X:327.81, Y:-14.14, Z:-7.19 [[ 9.99843015e-01 -5.48046588e-03 1.68496077e-02 3.27812876e+02] [ 5.49563183e-03 9.99984534e-01 -8.53906036e-04 -1.41415510e+01] [-1.68446673e-02 9.46371226e-04 9.99857671e-01 -7.19367516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104391418 meters 0.03584971325810109 Centerline is valid? [True, True] Translation: X:327.87, Y:-14.14, Z:-7.20 [[ 9.99847341e-01 -5.66948113e-03 1.65273101e-02 3.27874679e+02] [ 5.68411923e-03 9.99983493e-01 -8.38851271e-04 -1.41434245e+01] [-1.65222815e-02 9.32666414e-04 9.99863063e-01 -7.19527485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164391418 meters 0.03449837683426232 Centerline is valid? [True, True] Translation: X:327.94, Y:-14.14, Z:-7.20 [[ 9.99853834e-01 -4.93014399e-03 1.63708303e-02 3.27936904e+02] [ 4.94442872e-03 9.99987430e-01 -8.32211396e-04 -1.41436558e+01] [-1.63665216e-02 9.13034159e-04 9.99865643e-01 -7.19753677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224391418 meters 0.036017262872106395 Centerline is valid? [True, True] Translation: X:328.00, Y:-14.15, Z:-7.20 [[ 9.99854873e-01 -3.59930205e-03 1.66516363e-02 3.27998232e+02] [ 3.61390441e-03 9.99993111e-01 -8.46924444e-04 -1.41471379e+01] [-1.66484733e-02 9.06978955e-04 9.99860993e-01 -7.19837204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284391418 meters 0.03591675507904902 Centerline is valid? [True, True] Translation: X:328.06, Y:-14.15, Z:-7.20 [[ 9.99852365e-01 -1.92137370e-03 1.70750472e-02 3.28060273e+02] [ 1.93657835e-03 9.99997743e-01 -8.73969895e-04 -1.41480785e+01] [-1.70733295e-02 9.06908033e-04 9.99853829e-01 -7.19894650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344391418 meters 0.035121432226032485 Centerline is valid? [True, True] Translation: X:328.12, Y:-14.15, Z:-7.20 [[ 9.99844220e-01 -1.44520862e-03 1.75910831e-02 3.28122983e+02] [ 1.46129789e-03 9.99998526e-01 -9.01807013e-04 -1.41480239e+01] [-1.75897539e-02 9.27372343e-04 9.99844858e-01 -7.19988884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404391418 meters 0.035990845391997164 Centerline is valid? [True, True] Translation: X:328.19, Y:-14.15, Z:-7.20 [[ 9.99834589e-01 -1.40890626e-03 1.81330917e-02 3.28186210e+02] [ 1.42602082e-03 9.99998550e-01 -9.30934482e-04 -1.41517828e+01] [-1.81317538e-02 9.56638661e-04 9.99835149e-01 -7.20129322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46439141799993 meters 0.03784914323954069 Centerline is valid? [True, True] Translation: X:328.25, Y:-14.15, Z:-7.20 [[ 9.99820221e-01 -6.18233875e-06 1.89611844e-02 3.28247189e+02] [ 2.46926370e-05 9.99999523e-01 -9.75986611e-04 -1.41541483e+01] [-1.89611694e-02 9.76279350e-04 9.99819744e-01 -7.20245328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52439141799994 meters 0.03030116582375193 Centerline is valid? [True, True] Translation: X:328.31, Y:-14.14, Z:-7.20 [[ 9.99818978e-01 1.93904995e-03 1.89275062e-02 3.28310038e+02] [-1.92093382e-03 9.99997679e-01 -9.75266504e-04 -1.41449460e+01] [-1.89293534e-02 9.38731473e-04 9.99820383e-01 -7.20311777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58439141799994 meters 0.03626697357205913 Centerline is valid? [True, True] Translation: X:328.37, Y:-14.15, Z:-7.21 [[ 9.99805633e-01 5.24275972e-03 1.90054925e-02 3.28369771e+02] [-5.22506149e-03 9.99985868e-01 -9.80754438e-04 -1.41532376e+01] [-1.90103658e-02 8.81258945e-04 9.99818898e-01 -7.20628917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64439141799994 meters 0.027751384907735748 Centerline is valid? [True, True] Translation: X:328.43, Y:-14.14, Z:-7.21 [[ 9.99789229e-01 7.11315855e-03 1.92587603e-02 3.28432794e+02] [-7.09529442e-03 9.99974332e-01 -9.95755985e-04 -1.41418349e+01] [-1.92653490e-02 8.58899534e-04 9.99814037e-01 -7.20726284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70439141799994 meters 0.032515411992692145 Centerline is valid? [True, True] Translation: X:328.49, Y:-14.15, Z:-7.21 [[ 9.99770526e-01 9.25611201e-03 1.93189208e-02 3.28494188e+02] [-9.23842567e-03 9.99956820e-01 -1.00454088e-03 -1.41491762e+01] [-1.93273847e-02 8.25833949e-04 9.99812868e-01 -7.20985510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76439141799995 meters 0.029466821125558266 Centerline is valid? [True, True] Translation: X:328.56, Y:-14.15, Z:-7.21 [[ 9.99762331e-01 1.04510173e-02 1.91326271e-02 3.28557113e+02] [-1.04337845e-02 9.99945066e-01 -1.00030505e-03 -1.41460637e+01] [-1.91420303e-02 8.00441599e-04 9.99816454e-01 -7.21143835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82439141799995 meters 0.030535433775420957 Centerline is valid? [True, True] Translation: X:328.62, Y:-14.15, Z:-7.21 [[ 9.99740853e-01 1.05178423e-02 2.01891699e-02 3.28618876e+02] [-1.04985485e-02 9.99944325e-01 -1.06140536e-03 -1.41496852e+01] [-2.01992095e-02 8.49173316e-04 9.99795615e-01 -7.21244754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88439141799995 meters 0.028725569444763524 Centerline is valid? [True, True] Translation: X:328.68, Y:-14.15, Z:-7.21 [[ 9.99746526e-01 9.23709379e-03 2.05318997e-02 3.28681190e+02] [-9.21674494e-03 9.99956936e-01 -1.08549436e-03 -1.41499683e+01] [-2.05410423e-02 8.95981930e-04 9.99788609e-01 -7.21388160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94439141799995 meters 0.029426244113831466 Centerline is valid? [True, True] Translation: X:328.74, Y:-14.15, Z:-7.22 [[ 9.99786487e-01 5.61533812e-03 1.98858904e-02 3.28742250e+02] [-5.59541619e-03 9.99983787e-01 -1.05731141e-03 -1.41530650e+01] [-1.98915052e-02 9.45815826e-04 9.99801697e-01 -7.21659531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00439141799995 meters 0.03200574997475516 Centerline is valid? [True, True] Translation: X:328.80, Y:-14.16, Z:-7.22 [[ 9.99808168e-01 2.57898221e-03 1.94158677e-02 3.28802065e+02] [-2.55940265e-03 9.99996191e-01 -1.03321201e-03 -1.41592700e+01] [-1.94184584e-02 9.83320787e-04 9.99810960e-01 -7.21897833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06439141799996 meters 0.03344116546347961 Centerline is valid? [True, True] Translation: X:328.86, Y:-14.16, Z:-7.22 [[ 9.99820110e-01 1.70246102e-03 1.88904301e-02 3.28863644e+02] [-1.68378644e-03 9.99998078e-01 -1.00443422e-03 -1.41639903e+01] [-1.88921039e-02 9.72446079e-04 9.99821055e-01 -7.22160056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12439141799996 meters 0.03408691024552586 Centerline is valid? [True, True] Translation: X:328.93, Y:-14.17, Z:-7.22 [[ 9.99830221e-01 2.21785022e-03 1.82923833e-02 3.28927206e+02] [-2.20034537e-03 9.99997102e-01 -9.77018863e-04 -1.41655998e+01] [-1.82944972e-02 9.36603424e-04 9.99832203e-01 -7.22314166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18439141799996 meters 0.03427262526757288 Centerline is valid? [True, True] Translation: X:328.99, Y:-14.17, Z:-7.22 [[ 9.99821930e-01 3.68468069e-03 1.85076054e-02 3.28989554e+02] [-3.66688616e-03 9.99992782e-01 -9.95314786e-04 -1.41674359e+01] [-1.85111393e-02 9.27272268e-04 9.99828224e-01 -7.22441884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24439141799996 meters 0.034807286142497854 Centerline is valid? [True, True] Translation: X:329.05, Y:-14.17, Z:-7.23 [[ 9.99827223e-01 4.51630688e-03 1.80312999e-02 3.29051371e+02] [-4.49954053e-03 9.99989406e-01 -9.70308178e-04 -1.41707159e+01] [-1.80354911e-02 8.89007966e-04 9.99836952e-01 -7.22646035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30439141799997 meters 0.03573935712095547 Centerline is valid? [True, True] Translation: X:329.11, Y:-14.17, Z:-7.23 [[ 9.99810310e-01 5.53494502e-03 1.86737136e-02 3.29112608e+02] [-5.51704071e-03 9.99984271e-01 -1.01017829e-03 -1.41731902e+01] [-1.86790112e-02 9.06963030e-04 9.99825121e-01 -7.22775624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36439141799997 meters 0.03180717532870481 Centerline is valid? [True, True] Translation: X:329.18, Y:-14.17, Z:-7.23 [[ 9.99810497e-01 6.94666143e-03 1.81855229e-02 3.29175602e+02] [-6.92982544e-03 9.99975500e-01 -9.88644535e-04 -1.41692998e+01] [-1.81919452e-02 8.62434685e-04 9.99834141e-01 -7.22882542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42439141799997 meters 0.031079337101143314 Centerline is valid? [True, True] Translation: X:329.24, Y:-14.17, Z:-7.23 [[ 9.99812395e-01 7.51364754e-03 1.78527225e-02 3.29238187e+02] [-7.49749495e-03 9.99971421e-01 -9.71528741e-04 -1.41698368e+01] [-1.78595120e-02 8.37495780e-04 9.99840155e-01 -7.23011646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484391418 meters 0.0284383521331947 Centerline is valid? [True, True] Translation: X:329.30, Y:-14.17, Z:-7.23 [[ 9.99791622e-01 9.51268980e-03 1.80615947e-02 3.29300545e+02] [-9.49639077e-03 9.99954420e-01 -9.87968198e-04 -1.41684872e+01] [-1.80701697e-02 8.16242366e-04 9.99836388e-01 -7.23171054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544391418 meters 0.02913719998236198 Centerline is valid? [True, True] Translation: X:329.36, Y:-14.17, Z:-7.23 [[ 9.99765774e-01 1.13597735e-02 1.84215466e-02 3.29361757e+02] [-1.13430291e-02 9.99935152e-01 -1.01319296e-03 -1.41727293e+01] [-1.84318616e-02 8.03999506e-04 9.99829796e-01 -7.23295800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604391418 meters 0.027120910118518575 Centerline is valid? [True, True] Translation: X:329.42, Y:-14.17, Z:-7.23 [[ 9.99745342e-01 1.33863150e-02 1.81675018e-02 3.29424463e+02] [-1.33702793e-02 9.99910110e-01 -1.00383707e-03 -1.41726690e+01] [-1.81793064e-02 7.60676859e-04 9.99834453e-01 -7.23259445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664391418 meters 0.028585217029008674 Centerline is valid? [True, True] Translation: X:329.49, Y:-14.18, Z:-7.24 [[ 9.99748168e-01 1.40770800e-02 1.74767107e-02 3.29485537e+02] [-1.40622612e-02 9.99900651e-01 -9.70526794e-04 -1.41784038e+01] [-1.74886365e-02 7.24520316e-04 9.99846800e-01 -7.23517940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724391418 meters 0.029327649445560187 Centerline is valid? [True, True] Translation: X:329.55, Y:-14.18, Z:-7.24 [[ 9.99761667e-01 1.29843102e-02 1.75504102e-02 3.29547174e+02] [-1.29691186e-02 9.99915418e-01 -9.79137820e-04 -1.41843718e+01] [-1.75616391e-02 7.51291107e-04 9.99845500e-01 -7.23676985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784391418 meters 0.02966117792278538 Centerline is valid? [True, True] Translation: X:329.61, Y:-14.19, Z:-7.24 [[ 9.99763651e-01 1.25313760e-02 1.77653064e-02 3.29609052e+02] [-1.25156505e-02 9.99921180e-01 -9.96087407e-04 -1.41885171e+01] [-1.77763884e-02 7.73507617e-04 9.99841688e-01 -7.23825060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844391418 meters 0.031201820200218187 Centerline is valid? [True, True] Translation: X:329.67, Y:-14.19, Z:-7.24 [[ 9.99765791e-01 1.23201701e-02 1.77925857e-02 3.29669961e+02] [-1.23042656e-02 9.99923797e-01 -1.00308284e-03 -1.41948873e+01] [-1.78035880e-02 7.83923207e-04 9.99841196e-01 -7.23917915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904391418 meters 0.03307736410564342 Centerline is valid? [True, True] Translation: X:329.73, Y:-14.20, Z:-7.24 [[ 9.99761974e-01 1.11947550e-02 1.87262753e-02 3.29731877e+02] [-1.11768914e-02 9.99936977e-01 -1.05832027e-03 -1.42019949e+01] [-1.87369427e-02 8.48766820e-04 9.99824088e-01 -7.23921220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96439141799993 meters 0.02977735723329316 Centerline is valid? [True, True] Translation: X:329.79, Y:-14.20, Z:-7.24 [[ 9.99748713e-01 1.01994625e-02 1.99620007e-02 3.29794095e+02] [-1.01788525e-02 9.99947551e-01 -1.13379801e-03 -1.42034689e+01] [-1.99725179e-02 9.30322840e-04 9.99800097e-01 -7.23945750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02439141799994 meters 0.03249956831128197 Centerline is valid? [True, True] Translation: X:329.85, Y:-14.21, Z:-7.24 [[ 9.99786614e-01 7.26930697e-03 1.93360507e-02 3.29854213e+02] [-7.24930811e-03 9.99973114e-01 -1.10417172e-03 -1.42130518e+01] [-1.93435574e-02 9.63763116e-04 9.99812431e-01 -7.24093912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08439141799994 meters 0.03258419868814841 Centerline is valid? [True, True] Translation: X:329.92, Y:-14.22, Z:-7.24 [[ 9.99811973e-01 5.75690289e-03 1.85169356e-02 3.29915679e+02] [-5.73829030e-03 9.99982976e-01 -1.05814144e-03 -1.42187752e+01] [-1.85227120e-02 9.51686931e-04 9.99827987e-01 -7.24287251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14439141799994 meters 0.031869309602055015 Centerline is valid? [True, True] Translation: X:329.98, Y:-14.22, Z:-7.24 [[ 9.99814023e-01 5.86347471e-03 1.83722145e-02 3.29978131e+02] [-5.84513577e-03 9.99982364e-01 -1.05172920e-03 -1.42240299e+01] [-1.83780573e-02 9.44145519e-04 9.99830663e-01 -7.24385361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20439141799994 meters 0.03535358116549525 Centerline is valid? [True, True] Translation: X:330.04, Y:-14.23, Z:-7.25 [[ 9.99817328e-01 7.10368421e-03 1.77439670e-02 3.30038771e+02] [-7.08666880e-03 9.99974367e-01 -1.02163507e-03 -1.42336236e+01] [-1.77507696e-02 8.95702828e-04 9.99842041e-01 -7.24511001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26439141799995 meters 0.03071173445738722 Centerline is valid? [True, True] Translation: X:330.10, Y:-14.23, Z:-7.25 [[ 9.99806477e-01 9.65983554e-03 1.71375881e-02 3.30100481e+02] [-9.64424593e-03 9.99953001e-01 -9.92088281e-04 -1.42315195e+01] [-1.71463661e-02 8.26617174e-04 9.99852649e-01 -7.24569124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32439141799995 meters 0.029227649566309834 Centerline is valid? [True, True] Translation: X:330.16, Y:-14.23, Z:-7.25 [[ 9.99746174e-01 1.44275773e-02 1.73041032e-02 3.30160411e+02] [-1.44123801e-02 9.99895634e-01 -1.00263369e-03 -1.42344007e+01] [-1.73167628e-02 7.52985884e-04 9.99849770e-01 -7.24632877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38439141799995 meters 0.027054565749384574 Centerline is valid? [True, True] Translation: X:330.22, Y:-14.24, Z:-7.25 [[ 9.99669363e-01 1.86016080e-02 1.77523155e-02 3.30221669e+02] [-1.85862731e-02 9.99826731e-01 -1.02843513e-03 -1.42357930e+01] [-1.77683701e-02 6.98145711e-04 9.99841886e-01 -7.24713545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44439141799995 meters 0.022160735900167722 Centerline is valid? [True, True] Translation: X:330.28, Y:-14.23, Z:-7.25 [[ 9.99504342e-01 2.60920299e-02 1.76146668e-02 3.30282413e+02] [-2.60780781e-02 9.99659387e-01 -1.02132701e-03 -1.42316853e+01] [-1.76353155e-02 5.61464130e-04 9.99844328e-01 -7.24808248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50439141799995 meters 0.019030046003017012 Centerline is valid? [True, True] Translation: X:330.34, Y:-14.23, Z:-7.25 [[ 9.99306663e-01 3.35079539e-02 1.62298965e-02 3.30342192e+02] [-3.34970830e-02 9.99438372e-01 -9.41265730e-04 -1.42301638e+01] [-1.62523213e-02 3.96958925e-04 9.99867844e-01 -7.25057988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56439141799996 meters 0.01814417728798424 Centerline is valid? [True, True] Translation: X:330.40, Y:-14.23, Z:-7.25 [[ 9.99167509e-01 3.72937920e-02 1.65367123e-02 3.30399825e+02] [-3.72830303e-02 9.99304286e-01 -9.58697874e-04 -1.42311758e+01] [-1.65609609e-02 3.41361020e-04 9.99862800e-01 -7.25195037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62439141799996 meters 0.01586766286931559 Centerline is valid? [True, True] Translation: X:330.46, Y:-14.23, Z:-7.25 [[ 9.98974774e-01 4.20984259e-02 1.66470490e-02 3.30458769e+02] [-4.20882158e-02 9.99113434e-01 -9.63352072e-04 -1.42295664e+01] [-1.66728459e-02 2.61719829e-04 9.99860964e-01 -7.25128827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68439141799996 meters 0.015330833277782114 Centerline is valid? [True, True] Translation: X:330.52, Y:-14.23, Z:-7.25 [[ 9.98867018e-01 4.44950640e-02 1.68780993e-02 3.30517074e+02] [-4.44849344e-02 9.99009579e-01 -9.75310183e-04 -1.42305855e+01] [-1.69047794e-02 2.23384031e-04 9.99857079e-01 -7.25044156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74439141799996 meters 0.014759610704716318 Centerline is valid? [True, True] Translation: X:330.58, Y:-14.23, Z:-7.25 [[ 9.98737588e-01 4.68460203e-02 1.81295622e-02 3.30576515e+02] [-4.68347499e-02 9.98902103e-01 -1.04597199e-03 -1.42314057e+01] [-1.81586575e-02 1.95558028e-04 9.99835099e-01 -7.24906278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80439141799997 meters 0.015408311384016053 Centerline is valid? [True, True] Translation: X:330.64, Y:-14.24, Z:-7.25 [[ 9.98826688e-01 4.48024649e-02 1.83843848e-02 3.30635302e+02] [-4.47905491e-02 9.98995838e-01 -1.05960350e-03 -1.42374248e+01] [-1.84133967e-02 2.34913566e-04 9.99830431e-01 -7.24918137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86439141799997 meters 0.01629075175763643 Centerline is valid? [True, True] Translation: X:330.69, Y:-14.24, Z:-7.25 [[ 9.98984642e-01 4.15665666e-02 1.73754439e-02 3.30693439e+02] [-4.15554563e-02 9.99135698e-01 -1.00014409e-03 -1.42446490e+01] [-1.74019988e-02 2.77084091e-04 9.99848535e-01 -7.25063824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92439141799997 meters 0.019354508639979142 Centerline is valid? [True, True] Translation: X:330.75, Y:-14.26, Z:-7.25 [[ 9.99289216e-01 3.42710787e-02 1.57020851e-02 3.30751432e+02] [-3.42611241e-02 9.99412508e-01 -9.02613533e-04 -1.42570324e+01] [-1.57237938e-02 3.64000883e-04 9.99876307e-01 -7.25469088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984391418 meters 0.021492607028364644 Centerline is valid? [True, True] Translation: X:330.81, Y:-14.27, Z:-7.26 [[ 9.99487501e-01 2.85830884e-02 1.44132722e-02 3.30810649e+02] [-2.85741225e-02 9.99591334e-01 -8.27645564e-04 -1.42681604e+01] [-1.44310387e-02 4.15374789e-04 9.99895781e-01 -7.26024542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044391418 meters 0.020542081156909323 Centerline is valid? [True, True] Translation: X:330.87, Y:-14.27, Z:-7.26 [[ 9.99516166e-01 2.76378000e-02 1.42683521e-02 3.30869509e+02] [-2.76289205e-02 9.99617913e-01 -8.19100471e-04 -1.42728555e+01] [-1.42855384e-02 4.24484997e-04 9.99897866e-01 -7.26413239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104391418 meters 0.02058822942991679 Centerline is valid? [True, True] Translation: X:330.93, Y:-14.28, Z:-7.27 [[ 9.99464197e-01 2.93397971e-02 1.45084459e-02 3.30927664e+02] [-2.93308134e-02 9.99569413e-01 -8.31641567e-04 -1.42758137e+01] [-1.45265989e-02 4.05651452e-04 9.99894401e-01 -7.26650128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164391418 meters 0.01924217462575707 Centerline is valid? [True, True] Translation: X:330.99, Y:-14.28, Z:-7.27 [[ 9.99315495e-01 3.33278404e-02 1.60560523e-02 3.30987001e+02] [-3.33173783e-02 9.99444400e-01 -9.18726383e-04 -1.42773945e+01] [-1.60777507e-02 3.83151942e-04 9.99870671e-01 -7.26869686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224391418 meters 0.017468467965472342 Centerline is valid? [True, True] Translation: X:331.05, Y:-14.28, Z:-7.27 [[ 9.99186327e-01 3.62563528e-02 1.76680700e-02 3.31045938e+02] [-3.62441609e-02 9.99342454e-01 -1.00987925e-03 -1.42778314e+01] [-1.76930670e-02 3.68693165e-04 9.99843397e-01 -7.26926868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284391418 meters 0.01713473819647015 Centerline is valid? [True, True] Translation: X:331.10, Y:-14.28, Z:-7.27 [[ 9.99130573e-01 3.72882053e-02 1.86463873e-02 3.31104592e+02] [-3.72748354e-02 9.99304485e-01 -1.06418258e-03 -1.42799149e+01] [-1.86730999e-02 3.68216337e-04 9.99825575e-01 -7.26972207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344391418 meters 0.01752218865014582 Centerline is valid? [True, True] Translation: X:331.16, Y:-14.28, Z:-7.27 [[ 9.99133099e-01 3.71190887e-02 1.88473989e-02 3.31163364e+02] [-3.71054282e-02 9.99310779e-01 -1.07410147e-03 -1.42827205e+01] [-1.88742786e-02 3.73829520e-04 9.99821795e-01 -7.26961528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404391418 meters 0.0181697664103865 Centerline is valid? [True, True] Translation: X:331.22, Y:-14.29, Z:-7.27 [[ 9.99174316e-01 3.58940044e-02 1.90343644e-02 3.31220876e+02] [-3.58798770e-02 9.99355523e-01 -1.08330524e-03 -1.42871964e+01] [-1.90609813e-02 3.99460116e-04 9.99818243e-01 -7.26959115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46439141799993 meters 0.018489998101708864 Centerline is valid? [True, True] Translation: X:331.28, Y:-14.29, Z:-7.27 [[ 9.99272495e-01 3.35500642e-02 1.81348997e-02 3.31279927e+02] [-3.35368930e-02 9.99436949e-01 -1.03000959e-03 -1.42902877e+01] [-1.81592457e-02 4.21072063e-04 9.99835019e-01 -7.26904719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52439141799994 meters 0.01988098069351329 Centerline is valid? [True, True] Translation: X:331.34, Y:-14.29, Z:-7.27 [[ 9.99370306e-01 3.11417741e-02 1.70053168e-02 3.31339469e+02] [-3.11298590e-02 9.99514883e-01 -9.64990692e-04 -1.42948308e+01] [-1.70271187e-02 4.35009930e-04 9.99854933e-01 -7.27030428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58439141799994 meters 0.020489257683637897 Centerline is valid? [True, True] Translation: X:331.40, Y:-14.30, Z:-7.27 [[ 9.99518915e-01 2.71897288e-02 1.49217262e-02 3.31398326e+02] [-2.71801197e-02 9.99630194e-01 -8.46425157e-04 -1.42988418e+01] [-1.49392221e-02 4.40443651e-04 9.99888307e-01 -7.27260763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64439141799994 meters 0.022544747921857875 Centerline is valid? [True, True] Translation: X:331.46, Y:-14.30, Z:-7.28 [[ 9.99622794e-01 2.40542098e-02 1.32538225e-02 3.31457346e+02] [-2.40463626e-02 9.99710562e-01 -7.51137278e-04 -1.43034053e+01] [-1.32680544e-02 4.32147722e-04 9.99911882e-01 -7.27569065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70439141799994 meters 0.02312246571546359 Centerline is valid? [True, True] Translation: X:331.52, Y:-14.31, Z:-7.28 [[ 9.99647002e-01 2.34472373e-02 1.24939700e-02 3.31516610e+02] [-2.34402278e-02 9.99724990e-01 -7.07196358e-04 -1.43065673e+01] [-1.25071158e-02 4.14085217e-04 9.99921697e-01 -7.27789608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76439141799995 meters 0.02416956712178732 Centerline is valid? [True, True] Translation: X:331.58, Y:-14.31, Z:-7.28 [[ 9.99684725e-01 2.22504917e-02 1.16346597e-02 3.31575633e+02] [-2.22443347e-02 9.99752347e-01 -6.58346618e-04 -1.43084671e+01] [-1.16464269e-02 3.99333792e-04 9.99932098e-01 -7.27987814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82439141799995 meters 0.022868620256048026 Centerline is valid? [True, True] Translation: X:331.64, Y:-14.31, Z:-7.28 [[ 9.99689038e-01 2.18792615e-02 1.19635029e-02 3.31635562e+02] [-2.18727362e-02 9.99760535e-01 -6.76023795e-04 -1.43079745e+01] [-1.19754289e-02 4.14139034e-04 9.99928206e-01 -7.28110961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88439141799995 meters 0.02363631358195567 Centerline is valid? [True, True] Translation: X:331.70, Y:-14.31, Z:-7.28 [[ 9.99684348e-01 2.15396140e-02 1.29324896e-02 3.31695411e+02] [-2.15319683e-02 9.99767894e-01 -7.30168770e-04 -1.43107548e+01] [-1.29452155e-02 4.51476334e-04 9.99916105e-01 -7.28225175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94439141799995 meters 0.022952728204650004 Centerline is valid? [True, True] Translation: X:331.76, Y:-14.31, Z:-7.28 [[ 9.99643980e-01 2.27894194e-02 1.38764544e-02 3.31755456e+02] [-2.27807456e-02 9.99740179e-01 -7.82841923e-04 -1.43101272e+01] [-1.38906895e-02 4.66447238e-04 9.99903411e-01 -7.28223473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00439141799995 meters 0.02273163796755441 Centerline is valid? [True, True] Translation: X:331.81, Y:-14.31, Z:-7.28 [[ 9.99571858e-01 2.51178373e-02 1.50065039e-02 3.31814155e+02] [-2.51079668e-02 9.99684387e-01 -8.45817781e-04 -1.43101560e+01] [-1.50230128e-02 4.68672848e-04 9.99887038e-01 -7.28202565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06439141799996 meters 0.019175687306839207 Centerline is valid? [True, True] Translation: X:331.87, Y:-14.30, Z:-7.28 [[ 9.99398064e-01 3.10284929e-02 1.55158862e-02 3.31874726e+02] [-3.10186580e-02 9.99518423e-01 -8.74173081e-04 -1.43040692e+01] [-1.55355384e-02 3.92364917e-04 9.99879239e-01 -7.28162163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12439141799996 meters 0.01635132459221765 Centerline is valid? [True, True] Translation: X:331.94, Y:-14.30, Z:-7.28 [[ 9.99153695e-01 3.77918557e-02 1.62379220e-02 3.31935229e+02] [-3.77819887e-02 9.99285588e-01 -9.14107050e-04 -1.42994208e+01] [-1.62608673e-02 2.99832450e-04 9.99867738e-01 -7.28293109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18439141799996 meters 0.015359565997964389 Centerline is valid? [True, True] Translation: X:331.99, Y:-14.30, Z:-7.29 [[ 9.99041408e-01 4.10234418e-02 1.52755302e-02 3.31993189e+02] [-4.10150835e-02 9.99158157e-01 -8.60179484e-04 -1.42990251e+01] [-1.52979581e-02 2.32827778e-04 9.99882952e-01 -7.28579769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24439141799996 meters 0.014420460807811815 Centerline is valid? [True, True] Translation: X:332.05, Y:-14.30, Z:-7.29 [[ 9.98941617e-01 4.38398470e-02 1.39181384e-02 3.32051915e+02] [-4.38332003e-02 9.99038557e-01 -7.82402341e-04 -1.42988462e+01] [-1.39390573e-02 1.71497711e-04 9.99902832e-01 -7.29019993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30439141799997 meters 0.014426235301949463 Centerline is valid? [True, True] Translation: X:332.11, Y:-14.30, Z:-7.29 [[ 9.98951217e-01 4.38307464e-02 1.32412692e-02 3.32110092e+02] [-4.38247428e-02 9.99038958e-01 -7.43360491e-04 -1.43024725e+01] [-1.32611259e-02 1.62285648e-04 9.99912054e-01 -7.29369952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36439141799997 meters 0.014541018938452372 Centerline is valid? [True, True] Translation: X:332.17, Y:-14.31, Z:-7.29 [[ 9.98969342e-01 4.32630752e-02 1.37317098e-02 3.32168201e+02] [-4.32565765e-02 9.99063699e-01 -7.70061277e-04 -1.43061537e+01] [-1.37521680e-02 1.75280854e-04 9.99905419e-01 -7.29452006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42439141799997 meters 0.014344433313980743 Centerline is valid? [True, True] Translation: X:332.23, Y:-14.31, Z:-7.29 [[ 9.98921280e-01 4.42229114e-02 1.41637346e-02 3.32227020e+02] [-4.42161235e-02 9.99021675e-01 -7.92187834e-04 -1.43087201e+01] [-1.41849107e-02 1.65067846e-04 9.99899375e-01 -7.29482785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484391418 meters 0.014153997833997218 Centerline is valid? [True, True] Translation: X:332.29, Y:-14.31, Z:-7.30 [[ 9.98946522e-01 4.34899002e-02 1.46449271e-02 3.32285250e+02] [-4.34825819e-02 9.99053850e-01 -8.17908220e-04 -1.43127868e+01] [-1.46666415e-02 1.80247330e-04 9.99892423e-01 -7.29530444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544391418 meters 0.014828419738618797 Centerline is valid? [True, True] Translation: X:332.34, Y:-14.32, Z:-7.30 [[ 9.98998768e-01 4.21342394e-02 1.50388886e-02 3.32343797e+02] [-4.21263880e-02 9.99111938e-01 -8.38615363e-04 -1.43181908e+01] [-1.50608675e-02 2.04241659e-04 9.99886558e-01 -7.29608864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604391418 meters 0.014569972648215058 Centerline is valid? [True, True] Translation: X:332.40, Y:-14.32, Z:-7.30 [[ 9.98966327e-01 4.30992427e-02 1.44475633e-02 3.32402109e+02] [-4.30921136e-02 9.99070780e-01 -8.04532176e-04 -1.43209446e+01] [-1.44688131e-02 1.81124513e-04 9.99895305e-01 -7.29678585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664391418 meters 0.014068242195807247 Centerline is valid? [True, True] Translation: X:332.46, Y:-14.32, Z:-7.30 [[ 9.98787773e-01 4.69747478e-02 1.47091215e-02 3.32461189e+02] [-4.69677966e-02 9.98896069e-01 -8.17862810e-04 -1.43207584e+01] [-1.47313026e-02 1.26016348e-04 9.99891481e-01 -7.29595088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724391418 meters 0.013710559988252411 Centerline is valid? [True, True] Translation: X:332.52, Y:-14.32, Z:-7.30 [[ 9.98627169e-01 5.02160194e-02 1.49040052e-02 3.32520452e+02] [-5.02092619e-02 9.98738377e-01 -8.27470306e-04 -1.43216753e+01] [-1.49267543e-02 7.80152257e-05 9.99888587e-01 -7.29661718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784391418 meters 0.013142503177520689 Centerline is valid? [True, True] Translation: X:332.58, Y:-14.32, Z:-7.30 [[ 9.98473123e-01 5.36370979e-02 1.32092500e-02 3.32577973e+02] [-5.36320961e-02 9.98560495e-01 -7.32859999e-04 -1.43237672e+01] [-1.32295437e-02 2.33012447e-05 9.99912485e-01 -7.29956224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844391418 meters 0.013646324317772527 Centerline is valid? [True, True] Translation: X:332.64, Y:-14.33, Z:-7.30 [[ 9.98472100e-01 5.41512269e-02 1.10049789e-02 3.32636768e+02] [-5.41478004e-02 9.98532746e-01 -6.09294362e-04 -1.43280896e+01] [-1.10218258e-02 1.24680216e-05 9.99939258e-01 -7.30356562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904391418 meters 0.013590670453277373 Centerline is valid? [True, True] Translation: X:332.69, Y:-14.33, Z:-7.31 [[ 9.98523262e-01 5.33392118e-02 1.03064498e-02 3.32694889e+02] [-5.33361682e-02 9.98576451e-01 -5.70145664e-04 -1.43323695e+01] [-1.03221892e-02 1.95971667e-05 9.99946725e-01 -7.30526814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96439141799993 meters 0.013383398520797786 Centerline is valid? [True, True] Translation: X:332.75, Y:-14.34, Z:-7.31 [[ 9.98601783e-01 5.18315070e-02 1.03910814e-02 3.32752742e+02] [-5.18283396e-02 9.98655843e-01 -5.74058454e-04 -1.43368163e+01] [-1.04068684e-02 3.47033019e-05 9.99945846e-01 -7.30522214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02439141799994 meters 0.013742832730885338 Centerline is valid? [True, True] Translation: X:332.81, Y:-14.34, Z:-7.31 [[ 9.98711882e-01 4.96457776e-02 1.04820452e-02 3.32810868e+02] [-4.96424527e-02 9.98766887e-01 -5.77307479e-04 -1.43423035e+01] [-1.04977805e-02 5.62094053e-05 9.99944895e-01 -7.30561014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08439141799994 meters 0.014081282234313394 Centerline is valid? [True, True] Translation: X:332.87, Y:-14.35, Z:-7.31 [[ 9.98858639e-01 4.65531043e-02 1.06877020e-02 3.32869767e+02] [-4.65494802e-02 9.98915813e-01 -5.87735246e-04 -1.43485908e+01] [-1.07034755e-02 8.95574550e-05 9.99942712e-01 -7.30528455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14439141799994 meters 0.014265759693031994 Centerline is valid? [True, True] Translation: X:332.93, Y:-14.35, Z:-7.31 [[ 9.98937413e-01 4.49999119e-02 9.95255610e-03 3.32926861e+02] [-4.49966925e-02 9.98986986e-01 -5.47272415e-04 -1.43533467e+01] [-9.96710124e-03 9.88587840e-05 9.99950322e-01 -7.30537936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20439141799994 meters 0.01426886909220576 Centerline is valid? [True, True] Translation: X:332.99, Y:-14.36, Z:-7.31 [[ 9.98914887e-01 4.53980484e-02 1.03954620e-02 3.32985562e+02] [-4.53945800e-02 9.98968972e-01 -5.69481194e-04 -1.43565697e+01] [-1.04105973e-02 9.69656108e-05 9.99945804e-01 -7.30525053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26439141799995 meters 0.0135460091607702 Centerline is valid? [True, True] Translation: X:333.04, Y:-14.36, Z:-7.30 [[ 9.98606704e-01 5.12485890e-02 1.25790726e-02 3.33044213e+02] [-5.12439919e-02 9.98685927e-01 -6.87712480e-04 -1.43563085e+01] [-1.25977871e-02 4.21523974e-05 9.99920644e-01 -7.30314544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32439141799995 meters 0.013707045494041795 Centerline is valid? [True, True] Translation: X:333.10, Y:-14.36, Z:-7.30 [[ 9.98303517e-01 5.66025348e-02 1.36469953e-02 3.33103656e+02] [-5.65976411e-02 9.98396791e-01 -7.44845919e-04 -1.43551081e+01] [-1.36672765e-02 -2.88054433e-05 9.99906598e-01 -7.30206936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38439141799995 meters 0.014021167569909327 Centerline is valid? [True, True] Translation: X:333.16, Y:-14.36, Z:-7.30 [[ 9.97996218e-01 6.16908211e-02 1.40638042e-02 3.33162940e+02] [-6.16861448e-02 9.98095302e-01 -7.66465416e-04 -1.43561597e+01] [-1.40843008e-02 -1.02612278e-04 9.99900806e-01 -7.30120385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44439141799995 meters 0.01374532025605187 Centerline is valid? [True, True] Translation: X:333.22, Y:-14.37, Z:-7.31 [[ 9.98141812e-01 5.98091418e-02 1.16528762e-02 3.33221585e+02] [-5.98058108e-02 9.98209829e-01 -6.34420342e-04 -1.43665404e+01] [-1.16699597e-02 -6.36682406e-05 9.99931902e-01 -7.30514378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50439141799995 meters 0.01363872341986621 Centerline is valid? [True, True] Translation: X:333.28, Y:-14.38, Z:-7.31 [[ 9.98563204e-01 5.28896403e-02 8.61474243e-03 3.33279918e+02] [-5.28875643e-02 9.98600363e-01 -4.68775432e-04 -1.43794953e+01] [-8.62747828e-03 1.24891535e-05 9.99962783e-01 -7.30750672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56439141799996 meters 0.013876559709868744 Centerline is valid? [True, True] Translation: X:333.34, Y:-14.39, Z:-7.31 [[ 9.98702688e-01 5.03586197e-02 7.54655300e-03 3.33337738e+02] [-5.03569500e-02 9.98731199e-01 -4.11234311e-04 -1.43853463e+01] [-7.55768712e-03 3.06794204e-05 9.99971440e-01 -7.30925153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62439141799996 meters 0.014723692169914968 Centerline is valid? [True, True] Translation: X:333.40, Y:-14.40, Z:-7.31 [[ 9.99021361e-01 4.39592738e-02 4.88909876e-03 3.33395633e+02] [-4.39584941e-02 9.99033323e-01 -2.66864240e-04 -1.43961693e+01] [-4.89610374e-03 5.16856573e-05 9.99988013e-01 -7.30936498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68439141799996 meters 0.015677797230101768 Centerline is valid? [True, True] Translation: X:333.45, Y:-14.40, Z:-7.31 [[ 9.99178090e-01 4.03321458e-02 4.05744104e-03 3.33453920e+02] [-4.03315842e-02 9.99186326e-01 -2.20173562e-04 -1.44047902e+01] [-4.06301968e-03 5.63495737e-05 9.99991744e-01 -7.31070388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74439141799996 meters 0.016706432608610936 Centerline is valid? [True, True] Translation: X:333.51, Y:-14.42, Z:-7.31 [[ 9.99328073e-01 3.61075820e-02 6.29645612e-03 3.33511858e+02] [-3.61061550e-02 9.99347902e-01 -3.40188958e-04 -1.44151121e+01] [-6.30463361e-03 1.12619555e-04 9.99980119e-01 -7.30906343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80439141799997 meters 0.016555419479873466 Centerline is valid? [True, True] Translation: X:333.57, Y:-14.42, Z:-7.31 [[ 9.99377424e-01 3.45440023e-02 7.17464193e-03 3.33570835e+02] [-3.45421148e-02 9.99403168e-01 -3.86864757e-04 -1.44210951e+01] [-7.18372373e-03 1.38796599e-04 9.99974187e-01 -7.30807837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86439141799997 meters 0.017013744343132808 Centerline is valid? [True, True] Translation: X:333.63, Y:-14.43, Z:-7.31 [[ 9.99389496e-01 3.42032445e-02 7.12560011e-03 3.33629410e+02] [-3.42013783e-02 9.99414888e-01 -3.83627042e-04 -1.44267046e+01] [-7.13455213e-03 1.39687490e-04 9.99974539e-01 -7.30987663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92439141799997 meters 0.018217037322054867 Centerline is valid? [True, True] Translation: X:333.69, Y:-14.44, Z:-7.31 [[ 9.99482064e-01 3.13779716e-02 7.14324092e-03 3.33687178e+02] [-3.13760262e-02 9.99507577e-01 -3.84272305e-04 -1.44368831e+01] [-7.15178111e-03 1.59946763e-04 9.99974413e-01 -7.31150427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984391418 meters 0.019624613238695653 Centerline is valid? [True, True] Translation: X:333.75, Y:-14.44, Z:-7.31 [[ 9.99573519e-01 2.83538491e-02 6.98851679e-03 3.33745198e+02] [-2.83519179e-02 9.99597933e-01 -3.75280553e-04 -1.44446636e+01] [-6.99634759e-03 1.76982649e-04 9.99975510e-01 -7.31243180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044391418 meters 0.02190977727277218 Centerline is valid? [True, True] Translation: X:333.80, Y:-14.45, Z:-7.32 [[ 9.99704669e-01 2.37756078e-02 5.02942953e-03 3.33804478e+02] [-2.37745543e-02 9.99717309e-01 -2.69171121e-04 -1.44540637e+01] [-5.03440746e-03 1.49519181e-04 9.99987316e-01 -7.31518532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104391418 meters 0.02251908998495878 Centerline is valid? [True, True] Translation: X:333.86, Y:-14.46, Z:-7.32 [[ 9.99773638e-01 2.09105146e-02 3.92735510e-03 3.33863736e+02] [-2.09098498e-02 9.99781343e-01 -2.10242682e-04 -1.44596626e+01] [-3.93089264e-03 1.28074685e-04 9.99992266e-01 -7.31732625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164391418 meters 0.024534327358572753 Centerline is valid? [True, True] Translation: X:333.92, Y:-14.47, Z:-7.32 [[ 9.99844340e-01 1.75834962e-02 1.45511869e-03 3.33922861e+02] [-1.75834007e-02 9.99845397e-01 -7.83894772e-05 -1.44665835e+01] [-1.45627209e-03 5.27913400e-05 9.99998938e-01 -7.32050794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224391418 meters 0.02479545227336833 Centerline is valid? [True, True] Translation: X:333.98, Y:-14.47, Z:-7.32 [[ 9.99857643e-01 1.68507080e-02 8.64237742e-04 3.33981092e+02] [-1.68506725e-02 9.99858016e-01 -4.84453819e-05 -1.44690210e+01] [-8.64931373e-04 3.38754983e-05 9.99999625e-01 -7.32178582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284391418 meters 0.025554263488782616 Centerline is valid? [True, True] Translation: X:334.04, Y:-14.47, Z:-7.32 [[ 9.99875000e-01 1.56119675e-02 2.50016846e-03 3.34040110e+02] [-1.56116801e-02 9.99878121e-01 -1.34452638e-04 -1.44725951e+01] [-2.50196281e-03 9.54040015e-05 9.99996866e-01 -7.32184603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344391418 meters 0.027551553021004847 Centerline is valid? [True, True] Translation: X:334.10, Y:-14.48, Z:-7.32 [[ 9.99894792e-01 1.39049473e-02 4.13007314e-03 3.34097277e+02] [-1.39041550e-02 9.99903308e-01 -2.20482259e-04 -1.44778790e+01] [-4.13273959e-03 1.63033886e-04 9.99991447e-01 -7.32204542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40439141799993 meters 0.02873564818249701 Centerline is valid? [True, True] Translation: X:334.16, Y:-14.48, Z:-7.32 [[ 9.99901289e-01 1.22395238e-02 6.89967510e-03 3.34157311e+02] [-1.22372873e-02 9.99925055e-01 -3.66263126e-04 -1.44816337e+01] [-6.90364089e-03 2.81793665e-04 9.99976130e-01 -7.32071054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46439141799993 meters 0.029241395352335754 Centerline is valid? [True, True] Translation: X:334.22, Y:-14.48, Z:-7.32 [[ 9.99892969e-01 1.27042821e-02 7.25613130e-03 3.34217241e+02] [-1.27018232e-02 9.99919255e-01 -3.84852303e-04 -1.44814291e+01] [-7.26043468e-03 2.92645015e-04 9.99973600e-01 -7.32136908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52439141799994 meters 0.0294264688661379 Centerline is valid? [True, True] Translation: X:334.28, Y:-14.48, Z:-7.32 [[ 9.99882099e-01 1.38492396e-02 6.63230840e-03 3.34276559e+02] [-1.38472137e-02 9.99904061e-01 -3.51286491e-04 -1.44820237e+01] [-6.63653715e-03 2.59406082e-04 9.99977944e-01 -7.32322736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58439141799994 meters 0.027165072277798297 Centerline is valid? [True, True] Translation: X:334.34, Y:-14.48, Z:-7.32 [[ 9.99875532e-01 1.46801293e-02 5.78050724e-03 3.34336875e+02] [-1.46786027e-02 9.99892217e-01 -3.06441606e-04 -1.44778126e+01] [-5.78438280e-03 2.21553695e-04 9.99983246e-01 -7.32386487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64439141799994 meters 0.027253560149970706 Centerline is valid? [True, True] Translation: X:334.40, Y:-14.48, Z:-7.33 [[ 9.99864129e-01 1.57150148e-02 4.97618928e-03 3.34395282e+02] [-1.57138968e-02 9.99876494e-01 -2.63691653e-04 -1.44775280e+01] [-4.97971861e-03 1.85460500e-04 9.99987584e-01 -7.32609032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70439141799994 meters 0.026633315146379555 Centerline is valid? [True, True] Translation: X:334.45, Y:-14.48, Z:-7.33 [[ 9.99836978e-01 1.74851966e-02 4.50397134e-03 3.34454027e+02] [-1.74842960e-02 9.99847109e-01 -2.39262901e-04 -1.44769134e+01] [-4.50746628e-03 1.60475128e-04 9.99989828e-01 -7.32808929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76439141799995 meters 0.024958108080818817 Centerline is valid? [True, True] Translation: X:334.51, Y:-14.47, Z:-7.33 [[ 9.99753410e-01 2.17138439e-02 4.65050822e-03 3.34512788e+02] [-2.17129353e-02 9.99764216e-01 -2.45781829e-04 -1.44731612e+01] [-4.65474857e-03 1.44745038e-04 9.99989156e-01 -7.32950596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82439141799995 meters 0.022847329949844012 Centerline is valid? [True, True] Translation: X:334.57, Y:-14.47, Z:-7.33 [[ 9.99628122e-01 2.65353609e-02 6.28428470e-03 3.34572306e+02] [-2.65337982e-02 9.99647862e-01 -3.31919862e-04 -1.44685076e+01] [-6.29087938e-03 1.65050486e-04 9.99980199e-01 -7.32895874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88439141799995 meters 0.01887152341197663 Centerline is valid? [True, True] Translation: X:334.63, Y:-14.46, Z:-7.33 [[ 9.99568359e-01 2.84311796e-02 7.40030149e-03 3.34631330e+02] [-2.84290627e-02 9.99595736e-01 -3.91112433e-04 -1.44625143e+01] [-7.40842960e-03 1.80559978e-04 9.99972541e-01 -7.32659037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94439141799995 meters 0.019199844286681995 Centerline is valid? [True, True] Translation: X:334.69, Y:-14.46, Z:-7.33 [[ 9.99555719e-01 2.87168831e-02 7.98153032e-03 3.34689423e+02] [-2.87144331e-02 9.99587567e-01 -4.21403039e-04 -1.44639128e+01] [-7.99033985e-03 1.92030699e-04 9.99968058e-01 -7.32925156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00439141799995 meters 0.01878245486337472 Centerline is valid? [True, True] Translation: X:334.75, Y:-14.46, Z:-7.33 [[ 9.99499882e-01 3.05842459e-02 8.03677463e-03 3.34748737e+02] [-3.05818348e-02 9.99532177e-01 -4.22759131e-04 -1.44643523e+01] [-8.04594461e-03 1.76768387e-04 9.99967615e-01 -7.33153143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06439141799996 meters 0.016729077409500238 Centerline is valid? [True, True] Translation: X:334.81, Y:-14.46, Z:-7.33 [[ 9.99333193e-01 3.55570610e-02 8.29842964e-03 3.34807792e+02] [-3.55546638e-02 9.99367638e-01 -4.36271052e-04 -1.44601065e+01] [-8.30869454e-03 1.40932268e-04 9.99965472e-01 -7.33256767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12439141799996 meters 0.015517633467804917 Centerline is valid? [True, True] Translation: X:334.87, Y:-14.46, Z:-7.33 [[ 9.99168873e-01 3.97247120e-02 9.13839986e-03 3.34866434e+02] [-3.97219875e-02 9.99210655e-01 -4.79517182e-04 -1.44576733e+01] [-9.15023520e-03 1.16123236e-04 9.99958129e-01 -7.33423392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18439141799996 meters 0.014681481094892758 Centerline is valid? [True, True] Translation: X:334.92, Y:-14.46, Z:-7.34 [[ 9.99025289e-01 4.28357698e-02 1.06568947e-02 3.34924357e+02] [-4.28322515e-02 9.99082122e-01 -5.58262262e-04 -1.44570283e+01] [-1.06710266e-02 1.01259322e-04 9.99943058e-01 -7.33541799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24439141799996 meters 0.01428223346081215 Centerline is valid? [True, True] Translation: X:334.98, Y:-14.46, Z:-7.34 [[ 9.98944691e-01 4.46619017e-02 1.07153635e-02 3.34982847e+02] [-4.46584630e-02 9.99002156e-01 -5.60088436e-04 -1.44563469e+01] [-1.07296859e-02 8.09657053e-05 9.99942432e-01 -7.33562336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30439141799997 meters 0.014070006498850186 Centerline is valid? [True, True] Translation: X:335.04, Y:-14.46, Z:-7.34 [[ 9.98912705e-01 4.55808331e-02 9.78750800e-03 3.35041448e+02] [-4.55780147e-02 9.98960652e-01 -5.10931255e-04 -1.44582242e+01] [-9.80062404e-03 6.42805387e-05 9.99951971e-01 -7.33853127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36439141799997 meters 0.01428128543304589 Centerline is valid? [True, True] Translation: X:335.10, Y:-14.46, Z:-7.34 [[ 9.98938497e-01 4.52197357e-02 8.77805545e-03 3.35100100e+02] [-4.52174595e-02 9.98977063e-01 -4.57694465e-04 -1.44613285e+01] [-8.78977287e-03 6.02872539e-05 9.99961367e-01 -7.34092365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42439141799997 meters 0.014152923066331693 Centerline is valid? [True, True] Translation: X:335.16, Y:-14.46, Z:-7.34 [[ 9.98986874e-01 4.43924236e-02 7.38496828e-03 3.35158260e+02] [-4.43907850e-02 9.99014169e-01 -3.85739809e-04 -1.44642972e+01] [-7.39481187e-03 5.75244675e-05 9.99972656e-01 -7.34319975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484391418 meters 0.014529041388495059 Centerline is valid? [True, True] Translation: X:335.22, Y:-14.47, Z:-7.35 [[ 9.99003836e-01 4.41204495e-02 6.68748443e-03 3.35215711e+02] [-4.41191092e-02 9.99026217e-01 -3.47878623e-04 -1.44670981e+01] [-6.69632083e-03 5.24862228e-05 9.99977578e-01 -7.34522616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544391418 meters 0.014233104615165812 Centerline is valid? [True, True] Translation: X:335.27, Y:-14.47, Z:-7.35 [[ 9.99024956e-01 4.34789943e-02 7.66251159e-03 3.35274857e+02] [-4.34772262e-02 9.99054339e-01 -3.97245227e-04 -1.44694124e+01] [-7.67253727e-03 6.37131459e-05 9.99970564e-01 -7.34518319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604391418 meters 0.014098789093361154 Centerline is valid? [True, True] Translation: X:335.33, Y:-14.47, Z:-7.34 [[ 9.98892249e-01 4.62396065e-02 8.72771726e-03 3.35333348e+02] [-4.62374264e-02 9.98930376e-01 -4.51512400e-04 -1.44692572e+01] [-8.73925964e-03 4.74650524e-05 9.99961811e-01 -7.34433619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664391418 meters 0.013531676852270188 Centerline is valid? [True, True] Translation: X:335.39, Y:-14.47, Z:-7.34 [[ 9.98619168e-01 5.14055674e-02 1.08270208e-02 3.35392487e+02] [-5.14025300e-02 9.98677860e-01 -5.58813508e-04 -1.44667640e+01] [-1.08414320e-02 1.50562161e-06 9.99941230e-01 -7.34158247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724391418 meters 0.013750156179129449 Centerline is valid? [True, True] Translation: X:335.45, Y:-14.47, Z:-7.34 [[ 9.98521476e-01 5.30318922e-02 1.19364938e-02 3.35451562e+02] [-5.30283303e-02 9.98592819e-01 -6.14926827e-04 -1.44687406e+01] [-1.19523077e-02 -1.89546940e-05 9.99928568e-01 -7.34138029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784391418 meters 0.013587911030305204 Centerline is valid? [True, True] Translation: X:335.51, Y:-14.47, Z:-7.34 [[ 9.98575463e-01 5.21434283e-02 1.13184802e-02 3.35509684e+02] [-5.21401781e-02 9.98639606e-01 -5.82255477e-04 -1.44740504e+01] [-1.13334435e-02 -8.72154395e-06 9.99935774e-01 -7.34360287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844391418 meters 0.013664483375311853 Centerline is valid? [True, True] Translation: X:335.57, Y:-14.48, Z:-7.35 [[ 9.98758509e-01 4.89064139e-02 9.46588151e-03 3.35568044e+02] [-4.89039994e-02 9.98803365e-01 -4.86514551e-04 -1.44813184e+01] [-9.47834799e-03 2.29910838e-05 9.99955079e-01 -7.34685992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90439141799993 meters 0.0142115998605037 Centerline is valid? [True, True] Translation: X:335.63, Y:-14.49, Z:-7.35 [[ 9.99065711e-01 4.25701627e-02 7.44887215e-03 3.35626182e+02] [-4.25684929e-02 9.99093478e-01 -3.82648848e-04 -1.44929259e+01] [-7.45840901e-03 6.52040828e-05 9.99972184e-01 -7.35066176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96439141799993 meters 0.015324321061512883 Centerline is valid? [True, True] Translation: X:335.68, Y:-14.50, Z:-7.35 [[ 9.99281938e-01 3.73642871e-02 6.28631975e-03 3.35684653e+02] [-3.73629964e-02 9.99301707e-01 -3.22678990e-04 -1.45035586e+01] [-6.29398673e-03 8.75715441e-05 9.99980189e-01 -7.35343653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02439141799994 meters 0.01610939465835047 Centerline is valid? [True, True] Translation: X:335.74, Y:-14.51, Z:-7.35 [[ 9.99355066e-01 3.52731363e-02 6.72733233e-03 3.35743529e+02] [-3.52716153e-02 9.99377704e-01 -3.44647273e-04 -1.45092334e+01] [-6.73530273e-03 1.07141121e-04 9.99977312e-01 -7.35436130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08439141799994 meters 0.01649656073718449 Centerline is valid? [True, True] Translation: X:335.80, Y:-14.52, Z:-7.35 [[ 9.99401025e-01 3.35759367e-02 8.38136969e-03 3.35801298e+02] [-3.35735210e-02 9.99436158e-01 -4.28802827e-04 -1.45153280e+01] [-8.39104138e-03 1.47153894e-04 9.99964784e-01 -7.35365986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14439141799994 meters 0.016430751360179054 Centerline is valid? [True, True] Translation: X:335.86, Y:-14.52, Z:-7.35 [[ 9.99373392e-01 3.37050383e-02 1.08070765e-02 3.35858929e+02] [-3.37010542e-02 9.99431806e-01 -5.50609700e-04 -1.45211313e+01] [-1.08194943e-02 1.86054813e-04 9.99941450e-01 -7.35222724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20439141799994 meters 0.016370537495001284 Centerline is valid? [True, True] Translation: X:335.92, Y:-14.52, Z:-7.35 [[ 9.99360096e-01 3.41366165e-02 1.06812506e-02 3.35916169e+02] [-3.41327603e-02 9.99417160e-01 -5.43159366e-04 -1.45249004e+01] [-1.06935667e-02 1.78231231e-04 9.99942806e-01 -7.35270185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26439141799995 meters 0.017441924195150813 Centerline is valid? [True, True] Translation: X:335.97, Y:-14.53, Z:-7.35 [[ 9.99425915e-01 3.21687791e-02 1.06306128e-02 3.35974869e+02] [-3.21648613e-02 9.99482431e-01 -5.39347494e-04 -1.45313176e+01] [-1.06424609e-02 1.97105676e-04 9.99943348e-01 -7.35424705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32439141799995 meters 0.018495920146550354 Centerline is valid? [True, True] Translation: X:336.03, Y:-14.54, Z:-7.36 [[ 9.99507235e-01 2.96398018e-02 1.03328767e-02 3.36033404e+02] [-2.96359731e-02 9.99560621e-01 -5.23490602e-04 -1.45396957e+01] [-1.03438528e-02 2.17007788e-04 9.99946477e-01 -7.35641086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38439141799995 meters 0.019932537024361537 Centerline is valid? [True, True] Translation: X:336.09, Y:-14.55, Z:-7.36 [[ 9.99637578e-01 2.46846652e-02 1.07414891e-02 3.36092269e+02] [-2.46802531e-02 9.99695249e-01 -5.43126893e-04 -1.45487960e+01] [-1.07516226e-02 2.77827381e-04 9.99942161e-01 -7.35688069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44439141799995 meters 0.022401002923888767 Centerline is valid? [True, True] Translation: X:336.15, Y:-14.56, Z:-7.36 [[ 9.99741973e-01 2.01860651e-02 1.04167976e-02 3.36150923e+02] [-2.01816778e-02 9.99796191e-01 -5.26127670e-04 -1.45590253e+01] [-1.04252950e-02 3.15763463e-04 9.99945605e-01 -7.35909153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50439141799995 meters 0.02152715819687375 Centerline is valid? [True, True] Translation: X:336.21, Y:-14.56, Z:-7.36 [[ 9.99767659e-01 1.93346486e-02 9.52886474e-03 3.36210066e+02] [-1.93309452e-02 9.99813024e-01 -4.80609918e-04 -1.45628794e+01] [-9.53637550e-03 2.96296291e-04 9.99954484e-01 -7.36072965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56439141799996 meters 0.020528203735713953 Centerline is valid? [True, True] Translation: X:336.27, Y:-14.57, Z:-7.36 [[ 9.99767924e-01 1.97044827e-02 8.70814821e-03 3.36268482e+02] [-1.97014013e-02 9.99805812e-01 -4.39505918e-04 -1.45665259e+01] [-8.71511743e-03 2.67841196e-04 9.99961987e-01 -7.36161596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62439141799996 meters 0.021333305064809092 Centerline is valid? [True, True] Translation: X:336.33, Y:-14.57, Z:-7.36 [[ 9.99739040e-01 2.06606970e-02 9.74617132e-03 3.36327165e+02] [-2.06568952e-02 9.99786503e-01 -4.90594957e-04 -1.45716076e+01] [-9.75422658e-03 2.89141291e-04 9.99952385e-01 -7.36290171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68439141799996 meters 0.02022810450157631 Centerline is valid? [True, True] Translation: X:336.39, Y:-14.58, Z:-7.36 [[ 9.99679136e-01 2.25339019e-02 1.15692843e-02 3.36387017e+02] [-2.25286837e-02 9.99746028e-01 -5.81185076e-04 -1.45754017e+01] [-1.15794424e-02 3.20357848e-04 9.99932905e-01 -7.36303929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74439141799996 meters 0.018695865668642796 Centerline is valid? [True, True] Translation: X:336.45, Y:-14.58, Z:-7.36 [[ 9.99583787e-01 2.59358893e-02 1.26325728e-02 3.36446372e+02] [-2.59299442e-02 9.99663561e-01 -6.34200705e-04 -1.45770466e+01] [-1.26447713e-02 3.06374834e-04 9.99920005e-01 -7.36264917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80439141799997 meters 0.01647767147577169 Centerline is valid? [True, True] Translation: X:336.51, Y:-14.58, Z:-7.36 [[ 9.99408944e-01 3.16159374e-02 1.34979878e-02 3.36505964e+02] [-3.16096822e-02 9.99500060e-01 -6.76560083e-04 -1.45770006e+01] [-1.35126297e-02 2.49493093e-04 9.99908669e-01 -7.36174159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86439141799997 meters 0.01570183841121426 Centerline is valid? [True, True] Translation: X:336.56, Y:-14.58, Z:-7.36 [[ 9.99315464e-01 3.45618511e-02 1.31939756e-02 3.36564856e+02] [-3.45561334e-02 9.99402540e-01 -6.61153570e-04 -1.45805713e+01] [-1.32089434e-02 2.04768206e-04 9.99912737e-01 -7.36335099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92439141799997 meters 0.015283912684694199 Centerline is valid? [True, True] Translation: X:336.62, Y:-14.59, Z:-7.37 [[ 9.99275400e-01 3.62732089e-02 1.15294773e-02 3.36622507e+02] [-3.62689628e-02 9.99341898e-01 -5.77229274e-04 -1.45851098e+01] [-1.15428277e-02 1.58648829e-04 9.99933367e-01 -7.36537455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984391418 meters 0.015548526471191511 Centerline is valid? [True, True] Translation: X:336.68, Y:-14.59, Z:-7.37 [[ 9.99325377e-01 3.51536173e-02 1.06308135e-02 3.36680468e+02] [-3.51499533e-02 9.99381908e-01 -5.31358484e-04 -1.45924777e+01] [-1.06429219e-02 1.57327417e-04 9.99943350e-01 -7.36819477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044391418 meters 0.016606841740308877 Centerline is valid? [True, True] Translation: X:336.74, Y:-14.60, Z:-7.37 [[ 9.99390766e-01 3.34195836e-02 1.00612267e-02 3.36737919e+02] [-3.34162231e-02 9.99441396e-01 -5.01977955e-04 -1.46004779e+01] [-1.00723824e-02 1.65463937e-04 9.99949259e-01 -7.37137911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104391418 meters 0.016755619787314827 Centerline is valid? [True, True] Translation: X:336.80, Y:-14.61, Z:-7.37 [[ 9.99428194e-01 3.21496992e-02 1.04729339e-02 3.36796093e+02] [-3.21460023e-02 9.99483048e-01 -5.21182356e-04 -1.46064327e+01] [-1.04842757e-02 1.84221384e-04 9.99945022e-01 -7.37203659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164391418 meters 0.017101749540233496 Centerline is valid? [True, True] Translation: X:336.85, Y:-14.61, Z:-7.37 [[ 9.99461820e-01 3.09926220e-02 1.07484232e-02 3.36854939e+02] [-3.09886709e-02 9.99519593e-01 -5.33993042e-04 -1.46118627e+01] [-1.07598095e-02 2.00626308e-04 9.99942091e-01 -7.37247318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224391418 meters 0.01769264489279608 Centerline is valid? [True, True] Translation: X:336.91, Y:-14.62, Z:-7.37 [[ 9.99472200e-01 3.03134632e-02 1.16796870e-02 3.36913430e+02] [-3.03087640e-02 9.99540416e-01 -5.79172142e-04 -1.46170669e+01] [-1.16918759e-02 2.24869577e-04 9.99931622e-01 -7.37375123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284391418 meters 0.018576903692856174 Centerline is valid? [True, True] Translation: X:336.97, Y:-14.62, Z:-7.37 [[ 9.99497115e-01 2.84507822e-02 1.40024876e-02 3.36971980e+02] [-2.84438654e-02 9.99595151e-01 -6.92914627e-04 -1.46234452e+01] [-1.40165327e-02 2.94281298e-04 9.99901720e-01 -7.37357854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344391418 meters 0.020074946518065906 Centerline is valid? [True, True] Translation: X:337.03, Y:-14.63, Z:-7.38 [[ 9.99589875e-01 2.48428542e-02 1.42447760e-02 3.37031299e+02] [-2.48353501e-02 9.99691308e-01 -7.03478708e-04 -1.46306325e+01] [-1.42578552e-02 3.49416195e-04 9.99898291e-01 -7.37617768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40439141799993 meters 0.020854924626191564 Centerline is valid? [True, True] Translation: X:337.09, Y:-14.64, Z:-7.38 [[ 9.99629958e-01 2.33845788e-02 1.38963670e-02 3.37091135e+02] [-2.33773059e-02 9.99726478e-01 -6.85593470e-04 -1.46356399e+01] [-1.39085983e-02 3.60480150e-04 9.99903206e-01 -7.37815280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46439141799993 meters 0.023761954027619603 Centerline is valid? [True, True] Translation: X:337.15, Y:-14.65, Z:-7.38 [[ 9.99739784e-01 1.83988636e-02 1.34850355e-02 3.37150955e+02] [-1.83915652e-02 9.99830640e-01 -6.65049036e-04 -1.46451867e+01] [-1.34949878e-02 4.16865071e-04 9.99908852e-01 -7.38072017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52439141799994 meters 0.02578463407656867 Centerline is valid? [True, True] Translation: X:337.21, Y:-14.65, Z:-7.38 [[ 9.99796627e-01 1.51615674e-02 1.32978113e-02 3.37212280e+02] [-1.51541941e-02 9.99884954e-01 -6.55067702e-04 -1.46524627e+01] [-1.33062133e-02 4.53416865e-04 9.99911366e-01 -7.38276923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58439141799994 meters 0.02525924837400986 Centerline is valid? [True, True] Translation: X:337.27, Y:-14.66, Z:-7.38 [[ 9.99863493e-01 1.01623386e-02 1.30277699e-02 3.37273132e+02] [-1.01548297e-02 9.99948232e-01 -6.42402660e-04 -1.46567338e+01] [-1.30336238e-02 5.10020183e-04 9.99914929e-01 -7.38360191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64439141799994 meters 0.026280481529308845 Centerline is valid? [True, True] Translation: X:337.34, Y:-14.66, Z:-7.38 [[ 9.99874824e-01 8.29588930e-03 1.34727263e-02 3.37335450e+02] [-8.28771636e-03 9.99965437e-01 -6.62347534e-04 -1.46626772e+01] [-1.34777554e-02 5.50606491e-04 9.99909019e-01 -7.38453737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70439141799994 meters 0.03226326191056586 Centerline is valid? [True, True] Translation: X:337.40, Y:-14.67, Z:-7.39 [[ 9.99880966e-01 9.30637138e-03 1.23063407e-02 3.37395952e+02] [-9.29958888e-03 9.99956573e-01 -6.08249131e-04 -1.46739721e+01] [-1.23114669e-02 4.93732819e-04 9.99924089e-01 -7.38855512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76439141799995 meters 0.025695317828990007 Centerline is valid? [True, True] Translation: X:337.46, Y:-14.67, Z:-7.39 [[ 9.99858492e-01 1.17287270e-02 1.20595783e-02 3.37458924e+02] [-1.17223554e-02 9.99931111e-01 -5.98901835e-04 -1.46672927e+01] [-1.20657719e-02 4.57450424e-04 9.99927101e-01 -7.38747086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82439141799995 meters 0.02512643498995149 Centerline is valid? [True, True] Translation: X:337.52, Y:-14.67, Z:-7.39 [[ 9.99812567e-01 1.36379936e-02 1.37417563e-02 3.37521155e+02] [-1.36298347e-02 9.99906873e-01 -6.87219572e-04 -1.46697841e+01] [-1.37498488e-02 4.99792898e-04 9.99905341e-01 -7.38695150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88439141799995 meters 0.025128305380233452 Centerline is valid? [True, True] Translation: X:337.58, Y:-14.67, Z:-7.39 [[ 9.99755141e-01 1.58502286e-02 1.54410916e-02 3.37582914e+02] [-1.58401107e-02 9.99874235e-01 -7.77351934e-04 -1.46729463e+01] [-1.54514709e-02 5.32572993e-04 9.99880477e-01 -7.38655143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94439141799995 meters 0.02414244329934852 Centerline is valid? [True, True] Translation: X:337.64, Y:-14.68, Z:-7.39 [[ 9.99721369e-01 1.78595213e-02 1.54344266e-02 3.37644687e+02] [-1.78495853e-02 9.99840378e-01 -7.81285421e-04 -1.46756494e+01] [-1.54459163e-02 5.05569617e-04 9.99880577e-01 -7.38829623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00439141799995 meters 0.024672988881703557 Centerline is valid? [True, True] Translation: X:337.71, Y:-14.68, Z:-7.39 [[ 9.99726847e-01 1.79813629e-02 1.49298990e-02 3.37706593e+02] [-1.79720208e-02 9.99838202e-01 -7.59676236e-04 -1.46803320e+01] [-1.49411433e-02 4.91148274e-04 9.99888254e-01 -7.39014980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06439141799996 meters 0.025736748535450386 Centerline is valid? [True, True] Translation: X:337.77, Y:-14.69, Z:-7.39 [[ 9.99794935e-01 1.56976410e-02 1.27934060e-02 3.37768866e+02] [-1.56905381e-02 9.99876681e-01 -6.55382544e-04 -1.46858213e+01] [-1.28021163e-02 4.54512723e-04 9.99917946e-01 -7.39415388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12439141799996 meters 0.02568518760729695 Centerline is valid? [True, True] Translation: X:337.83, Y:-14.69, Z:-7.40 [[ 9.99855720e-01 1.23191965e-02 1.16951156e-02 3.37829904e+02] [-1.23130165e-02 9.99924012e-01 -6.00278675e-04 -1.46892471e+01] [-1.17016219e-02 4.56189915e-04 9.99931430e-01 -7.39588932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18439141799996 meters 0.02876348634147107 Centerline is valid? [True, True] Translation: X:337.89, Y:-14.70, Z:-7.40 [[ 9.99897981e-01 8.35537303e-03 1.15851717e-02 3.37889681e+02] [-8.34904435e-03 9.99964969e-01 -5.94531576e-04 -1.46972591e+01] [-1.15897334e-02 4.97745809e-04 9.99932713e-01 -7.39792708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24439141799996 meters 0.031093453698897218 Centerline is valid? [True, True] Translation: X:337.95, Y:-14.70, Z:-7.40 [[ 9.99912251e-01 6.06381262e-03 1.17779992e-02 3.37950612e+02] [-6.05711852e-03 9.99981473e-01 -6.03945248e-04 -1.47024449e+01] [-1.17814432e-02 5.32551516e-04 9.99930455e-01 -7.39836882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30439141799997 meters 0.03358139278563439 Centerline is valid? [True, True] Translation: X:338.01, Y:-14.71, Z:-7.40 [[ 9.99907326e-01 2.87390724e-03 1.33071312e-02 3.38011160e+02] [-2.86500229e-03 9.99995659e-01 -6.88201551e-04 -1.47075321e+01] [-1.33090513e-02 6.50012811e-04 9.99911219e-01 -7.39815075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36439141799997 meters 0.03321543243242443 Centerline is valid? [True, True] Translation: X:338.07, Y:-14.71, Z:-7.40 [[ 9.99912739e-01 -7.74413077e-04 1.31877029e-02 3.38072324e+02] [ 7.83489451e-04 9.99999460e-01 -6.83092740e-04 -1.47087442e+01] [-1.31871668e-02 6.93365558e-04 9.99912805e-01 -7.39792493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42439141799997 meters 0.0332090849197097 Centerline is valid? [True, True] Translation: X:338.13, Y:-14.71, Z:-7.40 [[ 9.99916728e-01 -4.03761976e-03 1.22570008e-02 3.38133857e+02] [ 4.04570467e-03 9.99991615e-01 -6.34892610e-04 -1.47101567e+01] [-1.22543345e-02 6.84427947e-04 9.99924679e-01 -7.39919231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484391418 meters 0.03767768528934123 Centerline is valid? [True, True] Translation: X:338.19, Y:-14.72, Z:-7.40 [[ 9.99906604e-01 -8.48433201e-03 1.07144556e-02 3.38193544e+02] [ 8.49077211e-03 9.99963798e-01 -5.55720786e-04 -1.47183739e+01] [-1.07093528e-02 6.46642885e-04 9.99942444e-01 -7.40322487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544391418 meters 0.04145827599711769 Centerline is valid? [True, True] Translation: X:338.25, Y:-14.72, Z:-7.41 [[ 9.99872150e-01 -1.17079405e-02 1.08906747e-02 3.38253104e+02] [ 1.17147862e-02 9.99931220e-01 -5.64996862e-04 -1.47243339e+01] [-1.08833107e-02 6.92506552e-04 9.99940535e-01 -7.40519526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604391418 meters 0.038760156749627364 Centerline is valid? [True, True] Translation: X:338.32, Y:-14.72, Z:-7.41 [[ 9.99858785e-01 -1.26890069e-02 1.10181594e-02 3.38315355e+02] [ 1.26960631e-02 9.99919239e-01 -5.70704217e-04 -1.47220020e+01] [-1.10100279e-02 7.10510872e-04 9.99939135e-01 -7.40515679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664391418 meters 0.03784816767108381 Centerline is valid? [True, True] Translation: X:338.38, Y:-14.72, Z:-7.41 [[ 9.99846312e-01 -1.34283284e-02 1.12709012e-02 3.38377848e+02] [ 1.34357695e-02 9.99909565e-01 -5.84750042e-04 -1.47201408e+01] [-1.12620297e-02 7.36093403e-04 9.99936310e-01 -7.40617960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724391418 meters 0.03936711729449075 Centerline is valid? [True, True] Translation: X:338.44, Y:-14.72, Z:-7.41 [[ 9.99859658e-01 -1.25287679e-02 1.11217676e-02 3.38439184e+02] [ 1.25359708e-02 9.99921254e-01 -5.78160879e-04 -1.47220176e+01] [-1.11136482e-02 7.17501893e-04 9.99937984e-01 -7.40806205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784391418 meters 0.03686662755101771 Centerline is valid? [True, True] Translation: X:338.50, Y:-14.72, Z:-7.41 [[ 9.99890681e-01 -9.92959095e-03 1.09557758e-02 3.38501400e+02] [ 9.93643220e-03 9.99950470e-01 -5.70185019e-04 -1.47166366e+01] [-1.09495715e-02 6.78984010e-04 9.99939821e-01 -7.40835924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844391418 meters 0.03654354395921687 Centerline is valid? [True, True] Translation: X:338.56, Y:-14.72, Z:-7.41 [[ 9.99910419e-01 -7.67410358e-03 1.09664061e-02 3.38562581e+02] [ 7.68083301e-03 9.99970339e-01 -5.71655609e-04 -1.47162819e+01] [-1.09616939e-02 6.55835534e-04 9.99939704e-01 -7.41012740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90439141799993 meters 0.03547670926934576 Centerline is valid? [True, True] Translation: X:338.62, Y:-14.71, Z:-7.41 [[ 9.99929734e-01 -5.17337768e-03 1.06659563e-02 3.38623917e+02] [ 5.17960607e-03 9.99986431e-01 -5.56409061e-04 -1.47142050e+01] [-1.06629330e-02 6.11615416e-04 9.99942962e-01 -7.41213280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96439141799993 meters 0.03578938186644368 Centerline is valid? [True, True] Translation: X:338.69, Y:-14.71, Z:-7.41 [[ 9.99932270e-01 -4.92868605e-03 1.05434056e-02 3.38685842e+02] [ 4.93475818e-03 9.99987673e-01 -5.49979667e-04 -1.47140687e+01] [-1.05405649e-02 6.01971574e-04 9.99944266e-01 -7.41320662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02439141799994 meters 0.03514369126661236 Centerline is valid? [True, True] Translation: X:338.75, Y:-14.71, Z:-7.41 [[ 9.99927493e-01 -5.70008571e-03 1.06073964e-02 3.38748382e+02] [ 5.70628407e-03 9.99983565e-01 -5.54170066e-04 -1.47139160e+01] [-1.06040633e-02 6.14658703e-04 9.99943586e-01 -7.41336775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08439141799994 meters 0.03751811437488642 Centerline is valid? [True, True] Translation: X:338.81, Y:-14.72, Z:-7.41 [[ 9.99909609e-01 -6.44077345e-03 1.18020933e-02 3.38809034e+02] [ 6.44851699e-03 9.99979017e-01 -6.18178522e-04 -1.47168229e+01] [-1.17978641e-02 6.94228644e-04 9.99930162e-01 -7.41339879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14439141799994 meters 0.03919956229361647 Centerline is valid? [True, True] Translation: X:338.87, Y:-14.72, Z:-7.41 [[ 9.99904236e-01 -6.17533949e-03 1.23848189e-02 3.38870321e+02] [ 6.18383944e-03 9.99980670e-01 -6.48142680e-04 -1.47182197e+01] [-1.23805770e-02 7.24666343e-04 9.99923095e-01 -7.41330349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20439141799994 meters 0.03524947408997097 Centerline is valid? [True, True] Translation: X:338.93, Y:-14.71, Z:-7.41 [[ 9.99900383e-01 -6.95377952e-03 1.22828763e-02 3.38932977e+02] [ 6.96223029e-03 9.99975555e-01 -6.45385838e-04 -1.47132088e+01] [-1.22780882e-02 7.30837760e-04 9.99924354e-01 -7.41359250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26439141799995 meters 0.03928907482036224 Centerline is valid? [True, True] Translation: X:338.99, Y:-14.72, Z:-7.42 [[ 9.99895075e-01 -7.58575847e-03 1.23407829e-02 3.38993286e+02] [ 7.59434271e-03 9.99970952e-01 -6.48885401e-04 -1.47211068e+01] [-1.23355022e-02 7.42537452e-04 9.99923639e-01 -7.41555346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32439141799995 meters 0.04037554592323274 Centerline is valid? [True, True] Translation: X:339.06, Y:-14.72, Z:-7.42 [[ 9.99879969e-01 -8.52090462e-03 1.29398988e-02 3.39055117e+02] [ 8.53045387e-03 9.99963382e-01 -6.82953814e-04 -1.47247428e+01] [-1.29336056e-02 7.93255049e-04 9.99916043e-01 -7.41636531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38439141799995 meters 0.03879596894492095 Centerline is valid? [True, True] Translation: X:339.12, Y:-14.72, Z:-7.42 [[ 9.99880577e-01 -8.99561752e-03 1.25662096e-02 3.39117809e+02] [ 9.00467203e-03 9.99959237e-01 -6.64149407e-04 -1.47237339e+01] [-1.25597230e-02 7.77224689e-04 9.99920822e-01 -7.41663271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44439141799995 meters 0.04041336923578273 Centerline is valid? [True, True] Translation: X:339.18, Y:-14.73, Z:-7.42 [[ 9.99909003e-01 -8.20790432e-03 1.07058999e-02 3.39178850e+02] [ 8.21444025e-03 9.99966100e-01 -5.66667089e-04 -1.47281144e+01] [-1.07008858e-02 6.54558499e-04 9.99942530e-01 -7.41976197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50439141799995 meters 0.03784315362650457 Centerline is valid? [True, True] Translation: X:339.24, Y:-14.73, Z:-7.42 [[ 9.99948218e-01 -5.46615767e-03 8.58381781e-03 3.39240464e+02] [ 5.47026300e-03 9.99984935e-01 -4.54859141e-04 -1.47256938e+01] [-8.58120216e-03 5.01791328e-04 9.99963055e-01 -7.42195882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56439141799996 meters 0.035674993739740424 Centerline is valid? [True, True] Translation: X:339.30, Y:-14.72, Z:-7.42 [[ 9.99959343e-01 1.70286157e-05 9.01733918e-03 3.39301243e+02] [-1.27122564e-05 9.99999885e-01 -4.78730398e-04 -1.47227576e+01] [-9.01734630e-03 4.78596303e-04 9.99959228e-01 -7.42236849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62439141799996 meters 0.03247224597006111 Centerline is valid? [True, True] Translation: X:339.36, Y:-14.72, Z:-7.42 [[ 9.99941137e-01 5.17854546e-03 9.53447469e-03 3.39362085e+02] [-5.17395520e-03 9.99986487e-01 -5.06040910e-04 -1.47195553e+01] [-9.53696641e-03 4.56680177e-04 9.99954418e-01 -7.42307356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68439141799996 meters 0.028557585355488836 Centerline is valid? [True, True] Translation: X:339.42, Y:-14.71, Z:-7.42 [[ 9.99859992e-01 1.31752994e-02 1.03153881e-02 3.39422747e+02] [-1.31703473e-02 9.99913117e-01 -5.47852698e-04 -1.47131279e+01] [-1.03217100e-02 4.11918750e-04 9.99946645e-01 -7.42214286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74439141799996 meters 0.023347365449079685 Centerline is valid? [True, True] Translation: X:339.48, Y:-14.71, Z:-7.42 [[ 9.99764682e-01 1.87596077e-02 1.08929717e-02 3.39483730e+02] [-1.87544160e-02 9.99823953e-01 -5.78571954e-04 -1.47061405e+01] [-1.09019078e-02 3.74144483e-04 9.99940502e-01 -7.42075334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80439141799997 meters 0.022166108235432882 Centerline is valid? [True, True] Translation: X:339.54, Y:-14.71, Z:-7.42 [[ 9.99718087e-01 2.12546294e-02 1.05824300e-02 3.39543781e+02] [-2.12498679e-02 9.99774038e-01 -5.62191935e-04 -1.47069705e+01] [-1.05919880e-02 3.37158205e-04 9.99943846e-01 -7.42224185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86439141799997 meters 0.019724829085277774 Centerline is valid? [True, True] Translation: X:339.60, Y:-14.70, Z:-7.42 [[ 9.99621786e-01 2.57435875e-02 9.67229018e-03 3.39602722e+02] [-2.57398140e-02 9.99668544e-01 -5.14434843e-04 -1.47043859e+01] [-9.68232764e-03 2.65277326e-04 9.99953090e-01 -7.42302842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92439141799997 meters 0.017585490409536497 Centerline is valid? [True, True] Translation: X:339.66, Y:-14.70, Z:-7.42 [[ 9.99474942e-01 3.10908400e-02 9.12143902e-03 3.39661670e+02] [-3.10877123e-02 9.99516543e-01 -4.84514505e-04 -1.47020758e+01] [-9.13209315e-03 2.00695434e-04 9.99958281e-01 -7.42385581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984391418 meters 0.015928441754363136 Centerline is valid? [True, True] Translation: X:339.72, Y:-14.70, Z:-7.43 [[ 9.99290777e-01 3.65417780e-02 9.09073267e-03 3.39720693e+02] [-3.65389036e-02 9.99332115e-01 -4.82139161e-04 -1.47020673e+01] [-9.10227933e-03 1.49631813e-04 9.99958562e-01 -7.42544892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044391418 meters 0.015368133729733844 Centerline is valid? [True, True] Translation: X:339.78, Y:-14.70, Z:-7.43 [[ 9.99194585e-01 3.91240169e-02 8.91590899e-03 3.39779021e+02] [-3.91213611e-02 9.99234355e-01 -4.72150109e-04 -1.47035183e+01] [-8.92755498e-03 1.22967337e-04 9.99960141e-01 -7.42679161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104391418 meters 0.01494558250525725 Centerline is valid? [True, True] Translation: X:339.84, Y:-14.71, Z:-7.43 [[ 9.99134803e-01 4.06174225e-02 8.93705083e-03 3.39837425e+02] [-4.06148203e-02 9.99174766e-01 -4.72547320e-04 -1.47071892e+01] [-8.94886933e-03 1.09161761e-04 9.99959952e-01 -7.42794177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164391418 meters 0.01598181038354602 Centerline is valid? [True, True] Translation: X:339.90, Y:-14.72, Z:-7.43 [[ 9.99258166e-01 3.74093038e-02 9.14672658e-03 3.39896083e+02] [-3.74064509e-02 9.99300017e-01 -4.82841458e-04 -1.47164310e+01] [-9.15838679e-03 1.40336691e-04 9.99958051e-01 -7.42931215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224391418 meters 0.017274952800012528 Centerline is valid? [True, True] Translation: X:339.95, Y:-14.72, Z:-7.43 [[ 9.99397962e-01 3.33754575e-02 9.47587401e-03 3.39954850e+02] [-3.33722219e-02 9.99442868e-01 -4.99416370e-04 -1.47246175e+01] [-9.48726294e-03 1.82884732e-04 9.99954978e-01 -7.42989734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284391418 meters 0.01955490236576599 Centerline is valid? [True, True] Translation: X:340.01, Y:-14.74, Z:-7.43 [[ 9.99598038e-01 2.67683778e-02 9.33892750e-03 3.40013883e+02] [-2.67649582e-02 9.99641634e-01 -4.90979983e-04 -1.47361579e+01] [-9.34872348e-03 2.40826624e-04 9.99956271e-01 -7.43041820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344391418 meters 0.021864521604306922 Centerline is valid? [True, True] Translation: X:340.07, Y:-14.75, Z:-7.43 [[ 9.99739887e-01 2.02938064e-02 1.04077004e-02 3.40072491e+02] [-2.02892115e-02 9.99794003e-01 -5.46894840e-04 -1.47473541e+01] [-1.04166551e-02 3.35588549e-04 9.99945689e-01 -7.43048717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40439141799993 meters 0.025018834137217283 Centerline is valid? [True, True] Translation: X:340.13, Y:-14.76, Z:-7.43 [[ 9.99839542e-01 1.44081326e-02 1.06440821e-02 3.40132102e+02] [-1.44030058e-02 9.99896116e-01 -5.58160318e-04 -1.47603938e+01] [-1.06510184e-02 4.04763981e-04 9.99943194e-01 -7.43212799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46439141799993 meters 0.029559215331254697 Centerline is valid? [True, True] Translation: X:340.19, Y:-14.77, Z:-7.44 [[ 9.99935601e-01 7.39750029e-03 8.60647966e-03 3.40190939e+02] [-7.39389438e-03 9.99972563e-01 -4.50720031e-04 -1.47746206e+01] [-8.60957773e-03 3.87055604e-04 9.99962862e-01 -7.43579091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52439141799994 meters 0.034674199352596746 Centerline is valid? [True, True] Translation: X:340.25, Y:-14.79, Z:-7.44 [[ 9.99975438e-01 5.61465576e-04 6.98628470e-03 3.40250060e+02] [-5.58921732e-04 9.99999777e-01 -3.66066741e-04 -1.47892116e+01] [-6.98648867e-03 3.62152963e-04 9.99975529e-01 -7.43952098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58439141799994 meters 0.0368896413645998 Centerline is valid? [True, True] Translation: X:340.31, Y:-14.80, Z:-7.44 [[ 9.99977520e-01 -3.74426298e-03 5.56237292e-03 3.40310541e+02] [ 3.74594176e-03 9.99992941e-01 -2.91422095e-04 -1.47972371e+01] [-5.56124250e-03 3.12251869e-04 9.99984487e-01 -7.44092609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64439141799994 meters 0.03796680948332379 Centerline is valid? [True, True] Translation: X:340.37, Y:-14.80, Z:-7.44 [[ 9.99969580e-01 -4.98728313e-03 5.99725341e-03 3.40371982e+02] [ 4.98925272e-03 9.99987504e-01 -3.13499468e-04 -1.48030230e+01] [-5.99561496e-03 3.43411744e-04 9.99981967e-01 -7.44199266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70439141799994 meters 0.03952219080049789 Centerline is valid? [True, True] Translation: X:340.43, Y:-14.81, Z:-7.44 [[ 9.99966413e-01 -4.15753335e-03 7.06313222e-03 3.40433276e+02] [ 4.16024932e-03 9.99991278e-01 -3.69878097e-04 -1.48088615e+01] [-7.06153283e-03 3.99250065e-04 9.99974987e-01 -7.44336946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76439141799995 meters 0.03445703285631686 Centerline is valid? [True, True] Translation: X:340.49, Y:-14.80, Z:-7.44 [[ 9.99968804e-01 -1.87161203e-03 7.67381396e-03 3.40494787e+02] [ 1.87475703e-03 9.99998162e-01 -4.02663431e-04 -1.48044055e+01] [-7.67304622e-03 4.17037406e-04 9.99970475e-01 -7.44247744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82439141799995 meters 0.033064516760325915 Centerline is valid? [True, True] Translation: X:340.56, Y:-14.80, Z:-7.44 [[ 9.99946328e-01 1.83515270e-03 1.01967388e-02 3.40555833e+02] [-1.82978217e-03 9.99998182e-01 -5.35994840e-04 -1.48041259e+01] [-1.01977039e-02 5.17308261e-04 9.99947868e-01 -7.44119113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88439141799995 meters 0.02941069198285482 Centerline is valid? [True, True] Translation: X:340.62, Y:-14.80, Z:-7.44 [[ 9.99927265e-01 3.66185548e-03 1.14915228e-02 3.40617606e+02] [-3.65515410e-03 9.99993137e-01 -6.04107129e-04 -1.48022057e+01] [-1.14936561e-02 5.62059902e-04 9.99933788e-01 -7.44034868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94439141799995 meters 0.02903249444635683 Centerline is valid? [True, True] Translation: X:340.68, Y:-14.80, Z:-7.44 [[ 9.99919922e-01 7.14564471e-03 1.04445913e-02 3.40677853e+02] [-7.14030450e-03 9.99974357e-01 -5.48489893e-04 -1.48041110e+01] [-1.04482428e-02 4.73868408e-04 9.99945303e-01 -7.44201238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00439141799995 meters 0.02734511475985339 Centerline is valid? [True, True] Translation: X:340.74, Y:-14.80, Z:-7.45 [[ 9.99893860e-01 1.22651715e-02 7.86346214e-03 3.40737473e+02] [-1.22622845e-02 9.99924729e-01 -4.15256038e-04 -1.48029723e+01] [-7.86796344e-03 3.18787953e-04 9.99968996e-01 -7.44501588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06439141799996 meters 0.022180998304992317 Centerline is valid? [True, True] Translation: X:340.80, Y:-14.80, Z:-7.45 [[ 9.99782886e-01 1.96329875e-02 6.98044581e-03 3.40798069e+02] [-1.96308923e-02 9.99807228e-01 -3.68541798e-04 -1.47967723e+01] [-6.98633575e-03 2.31429402e-04 9.99975568e-01 -7.44623225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12439141799996 meters 0.019966489779394764 Centerline is valid? [True, True] Translation: X:340.86, Y:-14.80, Z:-7.45 [[ 9.99615950e-01 2.67460784e-02 7.25254611e-03 3.40856986e+02] [-2.67440028e-02 9.99642242e-01 -3.83041657e-04 -1.47951568e+01] [-7.26019632e-03 1.88932437e-04 9.99973627e-01 -7.44742285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18439141799996 meters 0.019324328439144233 Centerline is valid? [True, True] Translation: X:340.92, Y:-14.80, Z:-7.45 [[ 9.99546062e-01 2.90341023e-02 8.04311464e-03 3.40915988e+02] [-2.90316226e-02 9.99578403e-01 -4.24914256e-04 -1.47969719e+01] [-8.05206069e-03 1.91216703e-04 9.99967563e-01 -7.44827419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24439141799996 meters 0.017331106476022803 Centerline is valid? [True, True] Translation: X:340.97, Y:-14.80, Z:-7.45 [[ 9.99375692e-01 3.41698544e-02 8.98038781e-03 3.40974731e+02] [-3.41669784e-02 9.99416026e-01 -4.73520473e-04 -1.47963485e+01] [-8.99132363e-03 1.66392134e-04 9.99959563e-01 -7.44826354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30439141799997 meters 0.01563840546544927 Centerline is valid? [True, True] Translation: X:341.03, Y:-14.80, Z:-7.45 [[ 9.99060058e-01 4.22295122e-02 9.78102457e-03 3.41032394e+02] [-4.22264910e-02 9.99107931e-01 -5.15287370e-04 -1.47967598e+01] [-9.79405956e-03 1.01784684e-04 9.99952032e-01 -7.44919628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36439141799997 meters 0.01475924987118687 Centerline is valid? [True, True] Translation: X:341.09, Y:-14.80, Z:-7.45 [[ 9.98754009e-01 4.92638045e-02 7.96910062e-03 3.41091610e+02] [-4.92620310e-02 9.98785801e-01 -4.18796979e-04 -1.47973778e+01] [-7.98005608e-03 2.57010795e-05 9.99968159e-01 -7.45187220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42439141799997 meters 0.014735285777199758 Centerline is valid? [True, True] Translation: X:341.15, Y:-14.80, Z:-7.45 [[ 9.98479698e-01 5.46703155e-02 7.03201781e-03 3.41150289e+02] [-5.46690708e-02 9.98504460e-01 -3.69239657e-04 -1.48007210e+01] [-7.04168760e-03 -1.57555790e-05 9.99975207e-01 -7.45326873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484391418 meters 0.015401004603200716 Centerline is valid? [True, True] Translation: X:341.21, Y:-14.81, Z:-7.45 [[ 9.98218307e-01 5.92902306e-02 6.69924591e-03 3.41208738e+02] [-5.92892080e-02 9.98240786e-01 -3.51314999e-04 -1.48052961e+01] [-6.70829005e-03 -4.65039208e-05 9.99977498e-01 -7.45369168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544391418 meters 0.01570016458361131 Centerline is valid? [True, True] Translation: X:341.27, Y:-14.81, Z:-7.45 [[ 9.98086722e-01 6.13975940e-02 7.29593042e-03 3.41267358e+02] [-6.13964431e-02 9.98113386e-01 -3.81838359e-04 -1.48101174e+01] [-7.30560977e-03 -6.68363803e-05 9.99973311e-01 -7.45399509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604391418 meters 0.015955505143972076 Centerline is valid? [True, True] Translation: X:341.33, Y:-14.82, Z:-7.45 [[ 9.97959128e-01 6.32115179e-02 9.04892009e-03 3.41325685e+02] [-6.32098324e-02 9.98000147e-01 -4.72420141e-04 -1.48185321e+01] [-9.06068598e-03 -1.00524730e-04 9.99958946e-01 -7.45345278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664391418 meters 0.015483697103612554 Centerline is valid? [True, True] Translation: X:341.38, Y:-14.83, Z:-7.45 [[ 9.98021414e-01 6.19835107e-02 1.05499698e-02 3.41384412e+02] [-6.19811631e-02 9.98077168e-01 -5.49653607e-04 -1.48289124e+01] [-1.05637535e-02 -1.05333331e-04 9.99944196e-01 -7.45250334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724391418 meters 0.014823259320414886 Centerline is valid? [True, True] Translation: X:341.44, Y:-14.84, Z:-7.45 [[ 9.98296646e-01 5.74338118e-02 1.02549685e-02 3.41442917e+02] [-5.74313617e-02 9.98349315e-01 -5.33488336e-04 -1.48429439e+01] [-1.02686810e-02 -5.63771870e-05 9.99947274e-01 -7.45363793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784391418 meters 0.014786797696277809 Centerline is valid? [True, True] Translation: X:341.50, Y:-14.86, Z:-7.46 [[ 9.98663132e-01 5.10864636e-02 7.88171438e-03 3.41501237e+02] [-5.10848205e-02 9.98694234e-01 -4.09788162e-04 -1.48589583e+01] [-7.89235734e-03 6.60436523e-06 9.99968855e-01 -7.45648288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844391418 meters 0.015221477043944493 Centerline is valid? [True, True] Translation: X:341.56, Y:-14.87, Z:-7.46 [[ 9.98870601e-01 4.71473257e-02 5.88663313e-03 3.41559776e+02] [-4.71463410e-02 9.98887946e-01 -3.06014633e-04 -1.48694504e+01] [-5.89451465e-03 2.81358078e-05 9.99982627e-01 -7.45911974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90439141799993 meters 0.015759904444062486 Centerline is valid? [True, True] Translation: X:341.62, Y:-14.88, Z:-7.46 [[ 9.99054681e-01 4.28216871e-02 7.48644069e-03 3.41615616e+02] [-4.28199710e-02 9.99082729e-01 -3.89435505e-04 -1.48832662e+01] [-7.49624988e-03 6.84981910e-05 9.99971900e-01 -7.45955042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96439141799993 meters 0.016477275888967805 Centerline is valid? [True, True] Translation: X:341.67, Y:-14.90, Z:-7.46 [[ 9.99167957e-01 3.99966969e-02 7.97859494e-03 3.41674040e+02] [-3.99946810e-02 9.99199808e-01 -4.12119193e-04 -1.48954889e+01] [-7.98869393e-03 9.26749334e-05 9.99968086e-01 -7.45994047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02439141799994 meters 0.01689252966678982 Centerline is valid? [True, True] Translation: X:341.73, Y:-14.90, Z:-7.46 [[ 9.99242192e-01 3.78638262e-02 9.02065174e-03 3.41732520e+02] [-3.78611706e-02 9.99282901e-01 -4.65042681e-04 -1.49032535e+01] [-9.03179133e-03 1.23157834e-04 9.99959205e-01 -7.45880554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08439141799994 meters 0.018427502713717375 Centerline is valid? [True, True] Translation: X:341.79, Y:-14.92, Z:-7.46 [[ 9.99426914e-01 3.26982030e-02 8.75615314e-03 3.41790529e+02] [-3.26955080e-02 9.99465257e-01 -4.50796955e-04 -1.49154476e+01] [-8.76621111e-03 1.64251735e-04 9.99961563e-01 -7.45886609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14439141799994 meters 0.020559219893331367 Centerline is valid? [True, True] Translation: X:341.85, Y:-14.93, Z:-7.46 [[ 9.99649805e-01 2.53761632e-02 7.50447056e-03 3.41849838e+02] [-2.53739840e-02 9.99677954e-01 -3.85473457e-04 -1.49274346e+01] [-7.51183562e-03 1.94920151e-04 9.99971767e-01 -7.45997388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20439141799994 meters 0.02396221536316393 Centerline is valid? [True, True] Translation: X:341.91, Y:-14.94, Z:-7.46 [[ 9.99843865e-01 1.59369221e-02 7.63288472e-03 3.41909734e+02] [-1.59343984e-02 9.99872963e-01 -3.91337691e-04 -1.49416230e+01] [-7.63815178e-03 2.69651163e-04 9.99970793e-01 -7.46106698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26439141799995 meters 0.030671036293997988 Centerline is valid? [True, True] Translation: X:341.97, Y:-14.96, Z:-7.46 [[ 9.99940935e-01 7.23180540e-03 8.11338774e-03 3.41968377e+02] [-7.22867183e-03 9.99973787e-01 -4.15481254e-04 -1.49573229e+01] [-8.11617974e-03 3.56807697e-04 9.99967000e-01 -7.46253097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32439141799995 meters 0.030194958320164767 Centerline is valid? [True, True] Translation: X:342.03, Y:-14.96, Z:-7.46 [[ 9.99957535e-01 3.00861523e-03 8.71072452e-03 3.42029399e+02] [-3.00484263e-03 9.99995386e-01 -4.46153698e-04 -1.49601888e+01] [-8.71202663e-03 4.19960395e-04 9.99961961e-01 -7.46108726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38439141799995 meters 0.03307159994244528 Centerline is valid? [True, True] Translation: X:342.09, Y:-14.97, Z:-7.46 [[ 9.99941435e-01 -2.54426518e-03 1.05191661e-02 3.42090311e+02] [ 2.55007441e-03 9.99996603e-01 -5.38876713e-04 -1.49698376e+01] [-1.05177593e-02 5.65669810e-04 9.99944527e-01 -7.45924851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44439141799995 meters 0.03470073147710322 Centerline is valid? [True, True] Translation: X:342.15, Y:-14.98, Z:-7.46 [[ 9.99940913e-01 -5.56660470e-03 9.33716724e-03 3.42151081e+02] [ 5.57131786e-03 9.99984365e-01 -4.78838969e-04 -1.49763334e+01] [-9.33435575e-03 5.30831003e-04 9.99956293e-01 -7.46056110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50439141799995 meters 0.034310899418026154 Centerline is valid? [True, True] Translation: X:342.21, Y:-14.98, Z:-7.46 [[ 9.99939523e-01 -6.86491755e-03 8.59204010e-03 3.42212966e+02] [ 6.86895012e-03 9.99976312e-01 -4.39916329e-04 -1.49789156e+01] [-8.58881658e-03 4.98908019e-04 9.99962991e-01 -7.46262703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56439141799996 meters 0.03627996789512217 Centerline is valid? [True, True] Translation: X:342.27, Y:-14.98, Z:-7.47 [[ 9.99934530e-01 -7.81817406e-03 8.35535214e-03 3.42274191e+02] [ 7.82202862e-03 9.99969316e-01 -4.28748863e-04 -1.49842390e+01] [-8.35174372e-03 4.94076596e-04 9.99965002e-01 -7.46570904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62439141799996 meters 0.036863324818308896 Centerline is valid? [True, True] Translation: X:342.34, Y:-14.99, Z:-7.47 [[ 9.99922123e-01 -7.57062471e-03 9.92133900e-03 3.42336600e+02] [ 7.57605376e-03 9.99971171e-01 -5.09739978e-04 -1.49877770e+01] [-9.91719393e-03 5.84864878e-04 9.99950652e-01 -7.46590138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68439141799996 meters 0.03691267489147325 Centerline is valid? [True, True] Translation: X:342.40, Y:-14.99, Z:-7.47 [[ 9.99921149e-01 -6.81501439e-03 1.05475402e-02 3.42398997e+02] [ 6.82111886e-03 9.99976589e-01 -5.42891197e-04 -1.49880209e+01] [-1.05435935e-02 6.14794415e-04 9.99944226e-01 -7.46574448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74439141799996 meters 0.03753832418769258 Centerline is valid? [True, True] Translation: X:342.46, Y:-14.99, Z:-7.47 [[ 9.99937672e-01 -5.30426714e-03 9.82428464e-03 3.42459843e+02] [ 5.30948766e-03 9.99985777e-01 -5.05384119e-04 -1.49896548e+01] [-9.82146421e-03 5.57514537e-04 9.99951613e-01 -7.46718041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80439141799997 meters 0.03673569096240808 Centerline is valid? [True, True] Translation: X:342.52, Y:-14.99, Z:-7.47 [[ 9.99962028e-01 -3.44826615e-03 8.00319320e-03 3.42522649e+02] [ 3.45168067e-03 9.99993958e-01 -4.12871828e-04 -1.49895679e+01] [-8.00172115e-03 4.40480618e-04 9.99967889e-01 -7.47062201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86439141799997 meters 0.03269325477410378 Centerline is valid? [True, True] Translation: X:342.58, Y:-14.98, Z:-7.47 [[ 9.99966469e-01 3.93896340e-04 8.17961126e-03 3.42583942e+02] [-3.90437946e-04 9.99999834e-01 -4.24399234e-04 -1.49825731e+01] [-8.17977707e-03 4.21191373e-04 9.99966456e-01 -7.47048138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92439141799997 meters 0.029676058429344124 Centerline is valid? [True, True] Translation: X:342.64, Y:-14.98, Z:-7.47 [[ 9.99934275e-01 6.25191896e-03 9.61035410e-03 3.42644483e+02] [-6.24740783e-03 9.99980360e-01 -4.99352361e-04 -1.49760397e+01] [-9.61328726e-03 4.39279739e-04 9.99953695e-01 -7.46967250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984391418 meters 0.02527297674314686 Centerline is valid? [True, True] Translation: X:342.71, Y:-14.97, Z:-7.47 [[ 9.99870950e-01 1.23522526e-02 1.02715761e-02 3.42705666e+02] [-1.23474269e-02 9.99923626e-01 -5.33095555e-04 -1.49694909e+01] [-1.02773766e-02 4.06199223e-04 9.99947104e-01 -7.46922581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044391418 meters 0.02451432847085996 Centerline is valid? [True, True] Translation: X:342.77, Y:-14.97, Z:-7.47 [[ 9.99811411e-01 1.65404170e-02 1.01762661e-02 3.42766815e+02] [-1.65358974e-02 9.99863133e-01 -5.28115416e-04 -1.49686777e+01] [-1.01836086e-02 3.59742126e-04 9.99948081e-01 -7.46973925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104391418 meters 0.02411328529085165 Centerline is valid? [True, True] Translation: X:342.83, Y:-14.97, Z:-7.47 [[ 9.99746053e-01 2.03673487e-02 9.64370898e-03 3.42826280e+02] [-2.03634569e-02 9.99792517e-01 -5.01587988e-04 -1.49680974e+01] [-9.65192410e-03 3.05081360e-04 9.99953373e-01 -7.47135751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164391418 meters 0.021691903049681164 Centerline is valid? [True, True] Translation: X:342.89, Y:-14.97, Z:-7.47 [[ 9.99668167e-01 2.40930218e-02 9.11495420e-03 3.42886221e+02] [-2.40896989e-02 9.99709689e-01 -4.74193217e-04 -1.49650050e+01] [-9.12373277e-03 2.54459362e-04 9.99958346e-01 -7.47172651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224391418 meters 0.020199846419456557 Centerline is valid? [True, True] Translation: X:342.94, Y:-14.96, Z:-7.47 [[ 9.99563500e-01 2.81909844e-02 8.83614864e-03 3.42944900e+02] [-2.81880198e-02 9.99602533e-01 -4.59887399e-04 -1.49628769e+01] [-8.84560124e-03 2.10613125e-04 9.99960855e-01 -7.47272240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284391418 meters 0.01982138382196975 Centerline is valid? [True, True] Translation: X:343.00, Y:-14.96, Z:-7.47 [[ 9.99492714e-01 3.01462833e-02 1.02721078e-02 3.43004161e+02] [-3.01423940e-02 9.99545473e-01 -5.33260570e-04 -1.49646439e+01] [-1.02835146e-02 2.23364135e-04 9.99947098e-01 -7.47352360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344391418 meters 0.019564468363437358 Centerline is valid? [True, True] Translation: X:343.06, Y:-14.97, Z:-7.47 [[ 9.99490962e-01 3.00711942e-02 1.06554983e-02 3.43063338e+02] [-3.00670097e-02 9.99547732e-01 -5.52719042e-04 -1.49669226e+01] [-1.06673001e-02 2.32058715e-04 9.99943076e-01 -7.47415351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40439141799993 meters 0.020315755728560418 Centerline is valid? [True, True] Translation: X:343.12, Y:-14.97, Z:-7.48 [[ 9.99563666e-01 2.78154645e-02 9.93871975e-03 3.43122034e+02] [-2.78117193e-02 9.99613047e-01 -5.14865865e-04 -1.49731763e+01] [-9.94919517e-03 2.38228328e-04 9.99950477e-01 -7.47722137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46439141799993 meters 0.02148535702760182 Centerline is valid? [True, True] Translation: X:343.18, Y:-14.98, Z:-7.48 [[ 9.99656192e-01 2.39682624e-02 1.06310702e-02 3.43180843e+02] [-2.39637727e-02 9.99712677e-01 -5.49521441e-04 -1.49811444e+01] [-1.06411867e-02 2.94571961e-04 9.99943338e-01 -7.47782233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52439141799994 meters 0.023701922964475 Centerline is valid? [True, True] Translation: X:343.24, Y:-14.99, Z:-7.48 [[ 9.99762198e-01 1.83685462e-02 1.17534774e-02 3.43240677e+02] [-1.83626888e-02 9.99831208e-01 -6.06080729e-04 -1.49911806e+01] [-1.17626263e-02 3.90111154e-04 9.99930742e-01 -7.47772152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58439141799994 meters 0.027633752211588553 Centerline is valid? [True, True] Translation: X:343.30, Y:-15.00, Z:-7.48 [[ 9.99859103e-01 1.17225205e-02 1.20148929e-02 3.43299758e+02] [-1.17159307e-02 9.99931175e-01 -6.18706164e-04 -1.50048487e+01] [-1.20213187e-02 4.77853338e-04 9.99927627e-01 -7.47903673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64439141799994 meters 0.028831026622698833 Centerline is valid? [True, True] Translation: X:343.36, Y:-15.01, Z:-7.48 [[ 9.99905470e-01 7.62998354e-03 1.14383140e-02 3.43360864e+02] [-7.62373055e-03 9.99970765e-01 -5.90174843e-04 -1.50121273e+01] [-1.14424826e-02 5.02916430e-04 9.99934406e-01 -7.48016528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70439141799994 meters 0.031630554622097004 Centerline is valid? [True, True] Translation: X:343.42, Y:-15.02, Z:-7.48 [[ 9.99943750e-01 2.29702332e-03 1.03547771e-02 3.43421738e+02] [-2.29160999e-03 9.99997231e-01 -5.34619896e-04 -1.50225985e+01] [-1.03559764e-02 5.10860712e-04 9.99946245e-01 -7.48304598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76439141799995 meters 0.03504239264658918 Centerline is valid? [True, True] Translation: X:343.48, Y:-15.03, Z:-7.49 [[ 9.99945676e-01 -2.89263923e-03 1.00138431e-02 3.43481811e+02] [ 2.89796930e-03 9.99995667e-01 -5.17800882e-04 -1.50343108e+01] [-1.00123019e-02 5.46792563e-04 9.99949726e-01 -7.48548762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82439141799995 meters 0.03692195965535243 Centerline is valid? [True, True] Translation: X:343.54, Y:-15.04, Z:-7.49 [[ 9.99912586e-01 -5.18336673e-03 1.21636070e-02 3.43543408e+02] [ 5.19137062e-03 9.99986328e-01 -6.26537288e-04 -1.50415572e+01] [-1.21601931e-02 6.89628311e-04 9.99925824e-01 -7.48519121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88439141799995 meters 0.0407636210083124 Centerline is valid? [True, True] Translation: X:343.60, Y:-15.05, Z:-7.48 [[ 9.99869402e-01 -8.70151336e-03 1.36184576e-02 3.43602845e+02] [ 8.71195955e-03 9.99961800e-01 -7.07924230e-04 -1.50515131e+01] [-1.36117774e-02 8.26475229e-04 9.99907014e-01 -7.48457402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94439141799995 meters 0.0438775859265476 Centerline is valid? [True, True] Translation: X:343.66, Y:-15.06, Z:-7.49 [[ 9.99838749e-01 -1.11978685e-02 1.40386220e-02 3.43662923e+02] [ 1.12092123e-02 9.99936909e-01 -7.29611635e-04 -1.50595840e+01] [-1.40295662e-02 8.86855879e-04 9.99901187e-01 -7.48544365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00439141799995 meters 0.045391901265531893 Centerline is valid? [True, True] Translation: X:343.72, Y:-15.06, Z:-7.49 [[ 9.99837866e-01 -1.21948873e-02 1.32486255e-02 3.43724826e+02] [ 1.22050737e-02 9.99925278e-01 -6.88283056e-04 -1.50649815e+01] [-1.32392420e-02 8.49871913e-04 9.99911996e-01 -7.48773640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06439141799996 meters 0.048764957160382864 Centerline is valid? [True, True] Translation: X:343.78, Y:-15.07, Z:-7.49 [[ 9.99824082e-01 -1.43176379e-02 1.21165334e-02 3.43784618e+02] [ 1.43263208e-02 9.99897174e-01 -6.30123450e-04 -1.50718032e+01] [-1.21062656e-02 8.03597945e-04 9.99926394e-01 -7.49063241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12439141799996 meters 0.052236411563616025 Centerline is valid? [True, True] Translation: X:343.84, Y:-15.08, Z:-7.49 [[ 9.99761377e-01 -1.66514247e-02 1.41392967e-02 3.43844971e+02] [ 1.66635083e-02 9.99860882e-01 -7.37223984e-04 -1.50786719e+01] [-1.41250538e-02 9.72658353e-04 9.99899763e-01 -7.49046993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18439141799996 meters 0.04500877805539749 Centerline is valid? [True, True] Translation: X:343.91, Y:-15.07, Z:-7.49 [[ 9.99718595e-01 -1.83562689e-02 1.50259042e-02 3.43907368e+02] [ 1.83701187e-02 9.99830948e-01 -7.84212918e-04 -1.50713682e+01] [-1.50089688e-02 1.06001988e-03 9.99886797e-01 -7.48921888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24439141799996 meters 0.05703692412578651 Centerline is valid? [True, True] Translation: X:343.97, Y:-15.09, Z:-7.49 [[ 9.99741259e-01 -1.83684808e-02 1.34169314e-02 3.43968154e+02] [ 1.83795333e-02 9.99830836e-01 -7.00918756e-04 -1.50880181e+01] [-1.34017869e-02 9.47334336e-04 9.99909743e-01 -7.49350113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30439141799997 meters 0.03948691407789372 Centerline is valid? [True, True] Translation: X:344.03, Y:-15.06, Z:-7.49 [[ 9.99820576e-01 -1.45948743e-02 1.20750306e-02 3.44030364e+02] [ 1.46035633e-02 9.99893163e-01 -6.31721940e-04 -1.50641872e+01] [-1.20645206e-02 8.07947068e-04 9.99926895e-01 -7.49282460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36439141799997 meters 0.03808439573870207 Centerline is valid? [True, True] Translation: X:344.09, Y:-15.06, Z:-7.49 [[ 9.99876366e-01 -1.00945234e-02 1.20562274e-02 3.44091352e+02] [ 1.01028655e-02 9.99948766e-01 -6.31234065e-04 -1.50624103e+01] [-1.20492377e-02 7.52958468e-04 9.99927122e-01 -7.49406915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42439141799997 meters 0.03600510407408138 Centerline is valid? [True, True] Translation: X:344.15, Y:-15.06, Z:-7.49 [[ 9.99896832e-01 -3.25086436e-03 1.39912948e-02 3.44151803e+02] [ 3.26143488e-03 9.99994413e-01 -7.32756468e-04 -1.50580485e+01] [-1.39888345e-02 7.78312568e-04 9.99901849e-01 -7.49356899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484391418 meters 0.03299668508241292 Centerline is valid? [True, True] Translation: X:344.21, Y:-15.05, Z:-7.49 [[ 9.99864284e-01 4.00600674e-03 1.59801412e-02 3.44213302e+02] [-3.99313977e-03 9.99991677e-01 -8.37011815e-04 -1.50531487e+01] [-1.59833613e-02 7.73087282e-04 9.99871959e-01 -7.49216638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544391418 meters 0.029662250245853304 Centerline is valid? [True, True] Translation: X:344.27, Y:-15.05, Z:-7.49 [[ 9.99801377e-01 1.16864752e-02 1.61441518e-02 3.44273969e+02] [-1.16743355e-02 9.99931495e-01 -8.45997715e-04 -1.50471292e+01] [-1.61529325e-02 6.57357437e-04 9.99869317e-01 -7.49377769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604391418 meters 0.027604143864262125 Centerline is valid? [True, True] Translation: X:344.34, Y:-15.05, Z:-7.50 [[ 9.99758708e-01 1.62966145e-02 1.47290856e-02 3.44335627e+02] [-1.62870141e-02 9.99867060e-01 -7.71524637e-04 -1.50455090e+01] [-1.47397008e-02 5.31445650e-04 9.99891223e-01 -7.49734144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664391418 meters 0.02347693796098008 Centerline is valid? [True, True] Translation: X:344.40, Y:-15.04, Z:-7.50 [[ 9.99656565e-01 2.14886367e-02 1.49996988e-02 3.44397117e+02] [-2.14792487e-02 9.99768985e-01 -7.86716383e-04 -1.50412630e+01] [-1.50131391e-02 4.64263936e-04 9.99887189e-01 -7.49959127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724391418 meters 0.022334207196966115 Centerline is valid? [True, True] Translation: X:344.46, Y:-15.04, Z:-7.50 [[ 9.99555451e-01 2.47482129e-02 1.66260570e-02 3.44457864e+02] [-2.47371123e-02 9.99693610e-01 -8.73014203e-04 -1.50396796e+01] [-1.66425685e-02 4.61345466e-04 9.99861396e-01 -7.49959905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784391418 meters 0.022314956351308795 Centerline is valid? [True, True] Translation: X:344.52, Y:-15.04, Z:-7.50 [[ 9.99514501e-01 2.62482872e-02 1.67865738e-02 3.44518155e+02] [-2.62371826e-02 9.99655357e-01 -8.81442746e-04 -1.50426845e+01] [-1.68039248e-02 4.40582405e-04 9.99858707e-01 -7.50163602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844391418 meters 0.020544794386360643 Centerline is valid? [True, True] Translation: X:344.58, Y:-15.04, Z:-7.50 [[ 9.99464465e-01 2.82065939e-02 1.65882708e-02 3.44578126e+02] [-2.81960160e-02 9.99602034e-01 -8.71255220e-04 -1.50427659e+01] [-1.66062444e-02 4.03065484e-04 9.99862026e-01 -7.50286982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90439141799993 meters 0.020585129131071994 Centerline is valid? [True, True] Translation: X:344.64, Y:-15.05, Z:-7.50 [[ 9.99391952e-01 3.00054860e-02 1.77594131e-02 3.44636534e+02] [-2.99936582e-02 9.99549654e-01 -9.32048036e-04 -1.50452362e+01] [-1.77793818e-02 3.98811540e-04 9.99841855e-01 -7.50362569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96439141799993 meters 0.02029403841891747 Centerline is valid? [True, True] Translation: X:344.70, Y:-15.05, Z:-7.51 [[ 9.99404029e-01 3.04995529e-02 1.61667389e-02 3.44695861e+02] [-3.04898321e-02 9.99534718e-01 -8.47473108e-04 -1.50481151e+01] [-1.61850644e-02 3.54046883e-04 9.99868951e-01 -7.50664083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02439141799994 meters 0.02011523615008063 Centerline is valid? [True, True] Translation: X:344.76, Y:-15.05, Z:-7.51 [[ 9.99418665e-01 3.02610102e-02 1.57036168e-02 3.44755444e+02] [-3.02518183e-02 9.99541971e-01 -8.22607238e-04 -1.50511542e+01] [-1.57213170e-02 3.47066066e-04 9.99876352e-01 -7.50852597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08439141799994 meters 0.020738134646363225 Centerline is valid? [True, True] Translation: X:344.81, Y:-15.05, Z:-7.51 [[ 9.99456176e-01 2.98351055e-02 1.40434817e-02 3.44813472e+02] [-2.98277244e-02 9.99554784e-01 -7.34798024e-04 -1.50548604e+01] [-1.40591521e-02 3.15513321e-04 9.99901115e-01 -7.51046786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14439141799994 meters 0.020138961718659292 Centerline is valid? [True, True] Translation: X:344.87, Y:-15.06, Z:-7.51 [[ 9.99473661e-01 2.96178727e-02 1.32356821e-02 3.44872213e+02] [-2.96112859e-02 9.99561249e-01 -6.93393247e-04 -1.50559857e+01] [-1.32504118e-02 3.01102720e-04 9.99912164e-01 -7.51183543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20439141799994 meters 0.01968039720948202 Centerline is valid? [True, True] Translation: X:344.93, Y:-15.06, Z:-7.51 [[ 9.99467955e-01 2.99862371e-02 1.28309160e-02 3.44931352e+02] [-2.99800896e-02 9.99550271e-01 -6.71230686e-04 -1.50576637e+01] [-1.28452733e-02 2.86201548e-04 9.99917455e-01 -7.51278554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26439141799995 meters 0.019820978104128452 Centerline is valid? [True, True] Translation: X:344.99, Y:-15.06, Z:-7.51 [[ 9.99472059e-01 2.97184219e-02 1.31308496e-02 3.44990270e+02] [-2.97119750e-02 9.99558267e-01 -6.85821947e-04 -1.50613078e+01] [-1.31454308e-02 2.95316400e-04 9.99913551e-01 -7.51259772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32439141799995 meters 0.02043937129542124 Centerline is valid? [True, True] Translation: X:345.05, Y:-15.07, Z:-7.51 [[ 9.99577856e-01 2.62294245e-02 1.24950646e-02 3.45050114e+02] [-2.62233304e-02 9.99655897e-01 -6.51333239e-04 -1.50652051e+01] [-1.25078491e-02 3.23396074e-04 9.99921721e-01 -7.51193792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38439141799995 meters 0.02185185207934062 Centerline is valid? [True, True] Translation: X:345.11, Y:-15.07, Z:-7.51 [[ 9.99680762e-01 2.26008908e-02 1.12948309e-02 3.45109099e+02] [-2.25956815e-02 9.99744512e-01 -5.88628369e-04 -1.50721726e+01] [-1.13052488e-02 3.33226055e-04 9.99936038e-01 -7.51352272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44439141799995 meters 0.025945768952425962 Centerline is valid? [True, True] Translation: X:345.17, Y:-15.08, Z:-7.52 [[ 9.99847162e-01 1.50144186e-02 8.95650905e-03 3.45169092e+02] [-1.50108474e-02 9.99887222e-01 -4.65826830e-04 -1.50847253e+01] [-8.96249307e-03 3.31310843e-04 9.99959781e-01 -7.51703784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50439141799995 meters 0.030593757391709223 Centerline is valid? [True, True] Translation: X:345.23, Y:-15.10, Z:-7.52 [[ 9.99938014e-01 7.75519238e-03 7.98909228e-03 3.45228525e+02] [-7.75211986e-03 9.99969866e-01 -4.15484458e-04 -1.50951837e+01] [-7.99207369e-03 3.53526303e-04 9.99968000e-01 -7.51770129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56439141799996 meters 0.031435954566936763 Centerline is valid? [True, True] Translation: X:345.29, Y:-15.10, Z:-7.52 [[ 9.99964167e-01 3.53033929e-03 7.69419366e-03 3.45289433e+02] [-3.52737287e-03 9.99993699e-01 -3.99075884e-04 -1.51007916e+01] [-7.69555406e-03 3.71921294e-04 9.99970320e-01 -7.51828460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62439141799996 meters 0.036026809439712475 Centerline is valid? [True, True] Translation: X:345.35, Y:-15.11, Z:-7.52 [[ 9.99968612e-01 -2.55551561e-03 7.49957194e-03 3.45348480e+02] [ 2.55851446e-03 9.99996651e-01 -3.90302460e-04 -1.51117669e+01] [-7.49854939e-03 4.09477973e-04 9.99971802e-01 -7.51970392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68439141799996 meters 0.0390700374280639 Centerline is valid? [True, True] Translation: X:345.41, Y:-15.12, Z:-7.52 [[ 9.99937730e-01 -7.91785663e-03 7.86406568e-03 3.45409057e+02] [ 7.92131599e-03 9.99968542e-01 -4.08845132e-04 -1.51198811e+01] [-7.86058112e-03 4.71113423e-04 9.99968994e-01 -7.51954108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74439141799996 meters 0.04326628483006492 Centerline is valid? [True, True] Translation: X:345.47, Y:-15.13, Z:-7.52 [[ 9.99896248e-01 -1.21095598e-02 7.80071630e-03 3.45468662e+02] [ 1.21130928e-02 9.99926551e-01 -4.05828867e-04 -1.51283252e+01] [-7.79522894e-03 5.00277563e-04 9.99969492e-01 -7.51991107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80439141799997 meters 0.04495104486472716 Centerline is valid? [True, True] Translation: X:345.53, Y:-15.13, Z:-7.52 [[ 9.99875816e-01 -1.39141305e-02 7.39927955e-03 3.45530100e+02] [ 1.39173502e-02 9.99903075e-01 -3.83813035e-04 -1.51343226e+01] [-7.39322195e-03 4.86743736e-04 9.99972551e-01 -7.52155525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86439141799997 meters 0.04830570607827017 Centerline is valid? [True, True] Translation: X:345.59, Y:-15.14, Z:-7.52 [[ 9.99859995e-01 -1.55929390e-02 6.07048669e-03 3.45590372e+02] [ 1.55951377e-02 9.99878339e-01 -3.15025738e-04 -1.51404028e+01] [-6.06483597e-03 4.09651708e-04 9.99981525e-01 -7.52315079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92439141799997 meters 0.04669230543495311 Centerline is valid? [True, True] Translation: X:345.65, Y:-15.14, Z:-7.52 [[ 9.99866339e-01 -1.55874733e-02 4.93311372e-03 3.45652400e+02] [ 1.55889237e-02 9.99878453e-01 -2.55697219e-04 -1.51400608e+01] [-4.92852844e-03 3.32564976e-04 9.99987799e-01 -7.52475680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984391418 meters 0.045826414650526025 Centerline is valid? [True, True] Translation: X:345.72, Y:-15.14, Z:-7.53 [[ 9.99864251e-01 -1.58101861e-02 4.63871672e-03 3.45715068e+02] [ 1.58114721e-02 9.99874962e-01 -2.40676939e-04 -1.51406879e+01] [-4.63433155e-03 3.13989207e-04 9.99989212e-01 -7.52526505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044391418 meters 0.05360762741073986 Centerline is valid? [True, True] Translation: X:345.78, Y:-15.15, Z:-7.53 [[ 9.99865503e-01 -1.55079438e-02 5.33671672e-03 3.45775696e+02] [ 1.55096470e-02 9.99879680e-01 -2.77907878e-04 -1.51507370e+01] [-5.33176482e-03 3.60641093e-04 9.99985721e-01 -7.52766048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104391418 meters 0.046267794976834024 Centerline is valid? [True, True] Translation: X:345.84, Y:-15.14, Z:-7.53 [[ 9.99843983e-01 -1.67394840e-02 5.63911583e-03 3.45838183e+02] [ 1.67414056e-02 9.99859810e-01 -2.93714952e-04 -1.51423075e+01] [-5.63340864e-03 3.88075852e-04 9.99984057e-01 -7.52526056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164391418 meters 0.0483054857773133 Centerline is valid? [True, True] Translation: X:345.90, Y:-15.15, Z:-7.53 [[ 9.99843600e-01 -1.68824880e-02 5.26848679e-03 3.45900238e+02] [ 1.68841689e-02 9.99857415e-01 -2.74724617e-04 -1.51463302e+01] [-5.26309754e-03 3.63635671e-04 9.99986084e-01 -7.52795992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224391418 meters 0.044708298768896725 Centerline is valid? [True, True] Translation: X:345.96, Y:-15.14, Z:-7.52 [[ 9.99831955e-01 -1.73916258e-02 5.79587963e-03 3.45963191e+02] [ 1.73936719e-02 9.99848673e-01 -3.02802449e-04 -1.51415451e+01] [-5.78973633e-03 4.03563193e-04 9.99983158e-01 -7.52473854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284391418 meters 0.04273371266477733 Centerline is valid? [True, True] Translation: X:346.02, Y:-15.14, Z:-7.53 [[ 9.99858828e-01 -1.58161369e-02 5.67222217e-03 3.46024462e+02] [ 1.58180774e-02 9.99874842e-01 -2.97401222e-04 -1.51395724e+01] [-5.66680851e-03 3.87082886e-04 9.99983869e-01 -7.52547473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344391418 meters 0.04237719241016324 Centerline is valid? [True, True] Translation: X:346.09, Y:-15.14, Z:-7.53 [[ 9.99898641e-01 -1.32547172e-02 5.19813718e-03 3.46086308e+02] [ 1.32563115e-02 9.99912094e-01 -2.72356639e-04 -1.51381018e+01] [-5.19407023e-03 3.41237158e-04 9.99986453e-01 -7.52624198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40439141799993 meters 0.0378854907372638 Centerline is valid? [True, True] Translation: X:346.15, Y:-15.13, Z:-7.53 [[ 9.99936533e-01 -1.00944818e-02 5.00312491e-03 3.46147243e+02] [ 1.00959256e-02 9.99949000e-01 -2.63408479e-04 -1.51337283e+01] [-5.00021078e-03 3.13902938e-04 9.99987450e-01 -7.52669020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46439141799993 meters 0.035383713058339955 Centerline is valid? [True, True] Translation: X:346.21, Y:-15.13, Z:-7.53 [[ 9.99976638e-01 -3.99317659e-03 5.54779577e-03 3.46208591e+02] [ 3.99485647e-03 9.99991978e-01 -2.91753784e-04 -1.51301038e+01] [-5.54658624e-03 3.13909616e-04 9.99984568e-01 -7.52677100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52439141799994 meters 0.02942284803302975 Centerline is valid? [True, True] Translation: X:346.27, Y:-15.12, Z:-7.53 [[ 9.99964465e-01 4.84916525e-03 6.89599232e-03 3.46270029e+02] [-4.84677695e-03 9.99988188e-01 -3.63002484e-04 -1.51209463e+01] [-6.89767113e-03 3.29566248e-04 9.99976156e-01 -7.52538975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58439141799994 meters 0.027195716547971427 Centerline is valid? [True, True] Translation: X:346.33, Y:-15.12, Z:-7.53 [[ 9.99907899e-01 1.16064963e-02 7.03446202e-03 3.46330038e+02] [-1.16041743e-02 9.99932601e-01 -3.70820822e-04 -1.51177536e+01] [-7.03829183e-03 2.89157545e-04 9.99975189e-01 -7.52619930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64439141799994 meters 0.023050163624254914 Centerline is valid? [True, True] Translation: X:346.39, Y:-15.11, Z:-7.53 [[ 9.99746689e-01 2.12251220e-02 7.48679586e-03 3.46391329e+02] [-2.12227635e-02 9.99774694e-01 -3.94332041e-04 -1.51107336e+01] [-7.49347879e-03 2.35341654e-04 9.99971896e-01 -7.52584157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70439141799994 meters 0.020309654739151896 Centerline is valid? [True, True] Translation: X:346.45, Y:-15.11, Z:-7.52 [[ 9.99540313e-01 2.87122545e-02 9.73497065e-03 3.46450954e+02] [-2.87086174e-02 9.99587691e-01 -5.13180629e-04 -1.51055510e+01] [-9.74569141e-03 2.33467178e-04 9.99952482e-01 -7.52438395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76439141799995 meters 0.01874939593107575 Centerline is valid? [True, True] Translation: X:346.51, Y:-15.10, Z:-7.53 [[ 9.99470270e-01 3.13477079e-02 8.74650518e-03 3.46510341e+02] [-3.13448726e-02 9.99508522e-01 -4.61092536e-04 -1.51048840e+01] [-8.75666066e-03 1.86690191e-04 9.99961642e-01 -7.52721232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82439141799995 meters 0.01959532607687663 Centerline is valid? [True, True] Translation: X:346.57, Y:-15.11, Z:-7.53 [[ 9.99516796e-01 2.98480639e-02 8.67563859e-03 3.46568197e+02] [-2.98452178e-02 9.99554428e-01 -4.57357212e-04 -1.51098817e+01] [-8.68542420e-03 1.98209892e-04 9.99962261e-01 -7.53051164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88439141799995 meters 0.020157005862613153 Centerline is valid? [True, True] Translation: X:346.63, Y:-15.11, Z:-7.53 [[ 9.99573064e-01 2.77336577e-02 9.19426296e-03 3.46627005e+02] [-2.77303838e-02 9.99615322e-01 -4.83400130e-04 -1.51148796e+01] [-9.20413258e-03 2.28233308e-04 9.99957615e-01 -7.53201854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94439141799995 meters 0.02075156840707553 Centerline is valid? [True, True] Translation: X:346.69, Y:-15.12, Z:-7.53 [[ 9.99613606e-01 2.62149090e-02 9.24211505e-03 3.46685474e+02] [-2.62115429e-02 9.99656301e-01 -4.85172526e-04 -1.51195889e+01] [-9.25165730e-03 2.42734963e-04 9.99957173e-01 -7.53360115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00439141799995 meters 0.02426853242357852 Centerline is valid? [True, True] Translation: X:346.74, Y:-15.13, Z:-7.54 [[ 9.99753162e-01 1.99933711e-02 9.68915035e-03 3.46743955e+02] [-1.99893926e-02 9.99800063e-01 -5.07293934e-04 -1.51302172e+01] [-9.69735566e-03 3.13488484e-04 9.99952930e-01 -7.53543068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06439141799996 meters 0.02850023076558954 Centerline is valid? [True, True] Translation: X:346.80, Y:-15.14, Z:-7.54 [[ 9.99867808e-01 1.31939471e-02 9.50194518e-03 3.46803047e+02] [-1.31898202e-02 9.99912887e-01 -4.96860717e-04 -1.51417338e+01] [-9.50767299e-03 3.71466088e-04 9.99954732e-01 -7.53782033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12439141799996 meters 0.033325795219625795 Centerline is valid? [True, True] Translation: X:346.86, Y:-15.15, Z:-7.54 [[ 9.99929794e-01 6.88902706e-03 9.64099938e-03 3.46863520e+02] [-6.88448997e-03 9.99976175e-01 -5.03712892e-04 -1.51520167e+01] [-9.64423977e-03 4.37304165e-04 9.99953398e-01 -7.53987776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18439141799996 meters 0.03330036362916045 Centerline is valid? [True, True] Translation: X:346.92, Y:-15.16, Z:-7.54 [[ 9.99949660e-01 2.73608032e-03 9.65352099e-03 3.46924631e+02] [-2.73134218e-03 9.99996143e-01 -5.03969523e-04 -1.51562943e+01] [-9.65486265e-03 4.77577085e-04 9.99953277e-01 -7.54094365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24439141799996 meters 0.04067151461660148 Centerline is valid? [True, True] Translation: X:346.98, Y:-15.17, Z:-7.54 [[ 9.99936990e-01 -2.07055664e-03 1.10330350e-02 3.46984455e+02] [ 2.07704373e-03 9.99997677e-01 -5.76543832e-04 -1.51699604e+01] [-1.10318156e-02 5.99423601e-04 9.99938968e-01 -7.54324627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30439141799997 meters 0.038433837424102585 Centerline is valid? [True, True] Translation: X:347.05, Y:-15.17, Z:-7.54 [[ 9.99903604e-01 -8.11989414e-03 1.12627755e-02 3.47045083e+02] [ 8.12704620e-03 9.99966801e-01 -5.89394102e-04 -1.51702005e+01] [-1.12576157e-02 6.80870384e-04 9.99936399e-01 -7.54257353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36439141799997 meters 0.03788017707832551 Centerline is valid? [True, True] Translation: X:347.11, Y:-15.17, Z:-7.54 [[ 9.99862435e-01 -1.25449128e-02 1.08506460e-02 3.47105311e+02] [ 1.25518105e-02 9.99921062e-01 -5.67832704e-04 -1.51738377e+01] [-1.08426660e-02 7.03949843e-04 9.99940969e-01 -7.54397763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42439141799997 meters 0.04175188907958146 Centerline is valid? [True, True] Translation: X:347.17, Y:-15.18, Z:-7.55 [[ 9.99775687e-01 -1.88130297e-02 9.72858908e-03 3.47165473e+02] [ 1.88188656e-02 9.99822780e-01 -5.08677851e-04 -1.51829397e+01] [-9.71729520e-03 6.91644759e-04 9.99952547e-01 -7.54617343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484391418 meters 0.043745610507023185 Centerline is valid? [True, True] Translation: X:347.23, Y:-15.19, Z:-7.55 [[ 9.99677940e-01 -2.34585141e-02 9.68063185e-03 3.47226029e+02] [ 2.34645185e-02 9.99724542e-01 -5.07117690e-04 -1.51881483e+01] [-9.66606901e-03 7.34105732e-04 9.99953013e-01 -7.54747549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544391418 meters 0.04937489429208273 Centerline is valid? [True, True] Translation: X:347.29, Y:-15.20, Z:-7.55 [[ 9.99612114e-01 -2.59394969e-02 1.01372976e-02 3.47286085e+02] [ 2.59462025e-02 9.99663200e-01 -5.30505491e-04 -1.51996855e+01] [-1.01201223e-02 7.93324093e-04 9.99948476e-01 -7.54876313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604391418 meters 0.049858051502292285 Centerline is valid? [True, True] Translation: X:347.35, Y:-15.20, Z:-7.55 [[ 9.99610424e-01 -2.53505708e-02 1.16768748e-02 3.47347978e+02] [ 2.53594338e-02 9.99678211e-01 -6.11565348e-04 -1.52012602e+01] [-1.16576138e-02 9.07446032e-04 9.99931636e-01 -7.54628988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664391418 meters 0.049613461251162796 Centerline is valid? [True, True] Translation: X:347.41, Y:-15.20, Z:-7.55 [[ 9.99641745e-01 -2.40302529e-02 1.17868096e-02 3.47409478e+02] [ 2.40392085e-02 9.99710825e-01 -6.18692561e-04 -1.52039486e+01] [-1.17685338e-02 9.01816484e-04 9.99930342e-01 -7.54695008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724391418 meters 0.05077572760666158 Centerline is valid? [True, True] Translation: X:347.47, Y:-15.21, Z:-7.55 [[ 9.99690393e-01 -2.25614791e-02 1.04927895e-02 3.47470016e+02] [ 2.25684992e-02 9.99745147e-01 -5.51099478e-04 -1.52096439e+01] [-1.04776818e-02 7.87735366e-04 9.99944797e-01 -7.55048282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784391418 meters 0.04039026942663418 Centerline is valid? [True, True] Translation: X:347.53, Y:-15.20, Z:-7.55 [[ 9.99754571e-01 -1.95295016e-02 1.04592997e-02 3.47531729e+02] [ 1.95363184e-02 9.99808997e-01 -5.49954664e-04 -1.51980949e+01] [-1.04465616e-02 7.54155897e-04 9.99945149e-01 -7.54878840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844391418 meters 0.0414335966612149 Centerline is valid? [True, True] Translation: X:347.59, Y:-15.20, Z:-7.55 [[ 9.99811696e-01 -1.68433170e-02 9.63720412e-03 3.47592380e+02] [ 1.68489791e-02 9.99857918e-01 -5.06639927e-04 -1.52020212e+01] [-9.62730134e-03 6.68921575e-04 9.99953433e-01 -7.55079366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90439141799993 meters 0.040959494180630246 Centerline is valid? [True, True] Translation: X:347.65, Y:-15.21, Z:-7.55 [[ 9.99832638e-01 -1.42411452e-02 1.14841558e-02 3.47653536e+02] [ 1.42490251e-02 9.99898295e-01 -6.04623065e-04 -1.52053465e+01] [-1.14743773e-02 7.68159899e-04 9.99933872e-01 -7.54934344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96439141799993 meters 0.0392807859208773 Centerline is valid? [True, True] Translation: X:347.71, Y:-15.21, Z:-7.55 [[ 9.99854095e-01 -1.13700099e-02 1.27479958e-02 3.47713857e+02] [ 1.13794938e-02 9.99935026e-01 -6.71660700e-04 -1.52074406e+01] [-1.27395307e-02 8.16628440e-04 9.99918515e-01 -7.54930493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02439141799994 meters 0.035721303676869307 Centerline is valid? [True, True] Translation: X:347.78, Y:-15.21, Z:-7.55 [[ 9.99888042e-01 -9.02900321e-03 1.19323053e-02 3.47775701e+02] [ 9.03713851e-03 9.99958967e-01 -6.28044078e-04 -1.52069535e+01] [-1.19261450e-02 7.35807660e-04 9.99928610e-01 -7.55103772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08439141799994 meters 0.03600638881676559 Centerline is valid? [True, True] Translation: X:347.84, Y:-15.21, Z:-7.55 [[ 9.99903620e-01 -6.10701665e-03 1.24681988e-02 3.47835677e+02] [ 6.11567624e-03 9.99981084e-01 -6.56525028e-04 -1.52125979e+01] [-1.24639535e-02 7.32713219e-04 9.99922053e-01 -7.55280070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14439141799994 meters 0.03447473194611879 Centerline is valid? [True, True] Translation: X:347.90, Y:-15.22, Z:-7.55 [[ 9.99899273e-01 -3.28176860e-04 1.41892629e-02 3.47895458e+02] [ 3.38858674e-04 9.99999661e-01 -7.50412075e-04 -1.52163000e+01] [-1.41890118e-02 7.55144643e-04 9.99899046e-01 -7.55285393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20439141799994 meters 0.02980133993489564 Centerline is valid? [True, True] Translation: X:347.96, Y:-15.21, Z:-7.55 [[ 9.99832157e-01 1.00226571e-02 1.53363426e-02 3.47955982e+02] [-1.00113999e-02 9.99949556e-01 -8.10620916e-04 -1.52138927e+01] [-1.53436936e-02 6.56946600e-04 9.99882063e-01 -7.55172675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26439141799995 meters 0.021814515166486973 Centerline is valid? [True, True] Translation: X:348.02, Y:-15.21, Z:-7.55 [[ 9.99565911e-01 2.41626426e-02 1.68569120e-02 3.48017317e+02] [-2.41510518e-02 9.99707924e-01 -8.90856834e-04 -1.52069597e+01] [-1.68735140e-02 4.83357967e-04 9.99857515e-01 -7.55141181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32439141799995 meters 0.017825810198754635 Centerline is valid? [True, True] Translation: X:348.08, Y:-15.20, Z:-7.55 [[ 9.99303309e-01 3.35829478e-02 1.62813684e-02 3.48077332e+02] [-3.35733761e-02 9.99435884e-01 -8.60938702e-04 -1.52035829e+01] [-1.63010967e-02 3.13718386e-04 9.99867079e-01 -7.55303127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38439141799995 meters 0.015194929808885295 Centerline is valid? [True, True] Translation: X:348.14, Y:-15.20, Z:-7.55 [[ 9.98872999e-01 4.45628694e-02 1.63365286e-02 3.48137131e+02] [-4.45547038e-02 9.99006573e-01 -8.63638613e-04 -1.52003390e+01] [-1.63587857e-02 1.34796098e-04 9.99866177e-01 -7.55454544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44439141799995 meters 0.015050228147144481 Centerline is valid? [True, True] Translation: X:348.20, Y:-15.21, Z:-7.56 [[ 9.98638065e-01 4.91399792e-02 1.75293368e-02 3.48196088e+02] [-4.91312933e-02 9.98791899e-01 -9.26079370e-04 -1.52056612e+01] [-1.75536671e-02 6.35791241e-05 9.99845920e-01 -7.55661104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50439141799995 meters 0.01494037417482529 Centerline is valid? [True, True] Translation: X:348.25, Y:-15.21, Z:-7.56 [[ 9.98629170e-01 4.90960047e-02 1.81483561e-02 3.48254021e+02] [-4.90867127e-02 9.98794062e-01 -9.57375759e-04 -1.52109473e+01] [-1.81734736e-02 6.52202203e-05 9.99834847e-01 -7.55732135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56439141799996 meters 0.015095481424885236 Centerline is valid? [True, True] Translation: X:348.31, Y:-15.22, Z:-7.56 [[ 9.98758256e-01 4.55081028e-02 2.02721355e-02 3.48312356e+02] [-4.54958275e-02 9.98963959e-01 -1.06654951e-03 -1.52207590e+01] [-2.02996693e-02 1.42927555e-04 9.99793930e-01 -7.55684885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62439141799996 meters 0.016844911720354273 Centerline is valid? [True, True] Translation: X:348.37, Y:-15.24, Z:-7.56 [[ 9.99074027e-01 3.78067186e-02 2.05363370e-02 3.48369732e+02] [-3.77925283e-02 9.99285025e-01 -1.07878640e-03 -1.52355996e+01] [-2.05624394e-02 3.01667379e-04 9.99788525e-01 -7.55841009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68439141799996 meters 0.019283271508199973 Centerline is valid? [True, True] Translation: X:348.43, Y:-15.25, Z:-7.56 [[ 9.99347085e-01 3.06716099e-02 1.90959845e-02 3.48428982e+02] [-3.06580751e-02 9.99529429e-01 -1.00119597e-03 -1.52473530e+01] [-1.91177068e-02 4.15096149e-04 9.99817154e-01 -7.56092638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74439141799996 meters 0.02349381906481448 Centerline is valid? [True, True] Translation: X:348.49, Y:-15.26, Z:-7.56 [[ 9.99654156e-01 1.92035473e-02 1.79664178e-02 3.48489151e+02] [-1.91897304e-02 9.99815417e-01 -9.41137183e-04 -1.52637295e+01] [-1.79811747e-02 5.96040982e-04 9.99838148e-01 -7.56499894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80439141799997 meters 0.02784961153859117 Centerline is valid? [True, True] Translation: X:348.55, Y:-15.28, Z:-7.57 [[ 9.99785525e-01 1.19387269e-02 1.69225236e-02 3.48548430e+02] [-1.19254312e-02 9.99928497e-01 -8.86379989e-04 -1.52777618e+01] [-1.69318958e-02 6.84381492e-04 9.99856411e-01 -7.56880079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86439141799997 meters 0.029099756081782793 Centerline is valid? [True, True] Translation: X:348.61, Y:-15.29, Z:-7.57 [[ 9.99838825e-01 6.38360113e-03 1.67801302e-02 3.48609447e+02] [-6.36973969e-03 9.99979326e-01 -8.79379801e-04 -1.52863133e+01] [-1.67853969e-02 7.72353006e-04 9.99858817e-01 -7.56986958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92439141799997 meters 0.033904036500080524 Centerline is valid? [True, True] Translation: X:348.67, Y:-15.30, Z:-7.57 [[ 9.99824766e-01 2.31768225e-03 1.85759237e-02 3.48668901e+02] [-2.29998186e-03 9.99996881e-01 -9.74174785e-04 -1.52999994e+01] [-1.85781236e-02 9.31279789e-04 9.99826978e-01 -7.56995093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984391418 meters 0.03212694361858349 Centerline is valid? [True, True] Translation: X:348.73, Y:-15.30, Z:-7.57 [[ 9.99855438e-01 1.13530973e-03 1.69650838e-02 3.48730928e+02] [-1.12037006e-03 9.99998976e-01 -8.90091120e-04 -1.53045180e+01] [-1.69660770e-02 8.70955275e-04 9.99855686e-01 -7.57298087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044391418 meters 0.03044670558722761 Centerline is valid? [True, True] Translation: X:348.79, Y:-15.30, Z:-7.58 [[ 9.99871546e-01 4.53484913e-03 1.53729142e-02 3.48792350e+02] [-4.52289819e-03 9.99989442e-01 -8.12080779e-04 -1.53046579e+01] [-1.53764346e-02 7.42446338e-04 9.99881500e-01 -7.57530507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104391418 meters 0.028661750722317383 Centerline is valid? [True, True] Translation: X:348.85, Y:-15.31, Z:-7.58 [[ 9.99833657e-01 9.55606682e-03 1.55351460e-02 3.48852769e+02] [-9.54445264e-03 9.99954113e-01 -8.21578743e-04 -1.53055206e+01] [-1.55422842e-02 6.73167613e-04 9.99878985e-01 -7.57748535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164391418 meters 0.02467915153891291 Centerline is valid? [True, True] Translation: X:348.91, Y:-15.30, Z:-7.58 [[ 9.99723092e-01 1.79423931e-02 1.52253159e-02 3.48913690e+02] [-1.79322091e-02 9.99838881e-01 -8.05152447e-04 -1.53015882e+01] [-1.52373092e-02 5.31905944e-04 9.99883764e-01 -7.57988432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224391418 meters 0.020071230517051158 Centerline is valid? [True, True] Translation: X:348.97, Y:-15.29, Z:-7.58 [[ 9.99480915e-01 2.78950294e-02 1.61173088e-02 3.48974689e+02] [-2.78849078e-02 9.99610777e-01 -8.52427728e-04 -1.52939729e+01] [-1.61348140e-02 4.02555578e-04 9.99869744e-01 -7.58058737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284391418 meters 0.018471237245578576 Centerline is valid? [True, True] Translation: X:349.03, Y:-15.29, Z:-7.58 [[ 9.99293212e-01 3.43664777e-02 1.52322614e-02 3.49033472e+02] [-3.43581851e-02 9.99409258e-01 -8.05848133e-04 -1.52902693e+01] [-1.52509572e-02 2.81925713e-04 9.99883658e-01 -7.58191864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34439141799993 meters 0.018443236592148946 Centerline is valid? [True, True] Translation: X:349.09, Y:-15.29, Z:-7.58 [[ 9.99238706e-01 3.58371974e-02 1.54176538e-02 3.49091146e+02] [-3.58288719e-02 9.99357607e-01 -8.15965898e-04 -1.52923569e+01] [-1.54369915e-02 2.62947564e-04 9.99880808e-01 -7.58252841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40439141799993 meters 0.01922762075299346 Centerline is valid? [True, True] Translation: X:349.15, Y:-15.29, Z:-7.58 [[ 9.99333768e-01 3.32598266e-02 1.50267585e-02 3.49150264e+02] [-3.32516501e-02 9.99446696e-01 -7.93712885e-04 -1.52940510e+01] [-1.50448429e-02 2.93519571e-04 9.99886777e-01 -7.58168136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46439141799993 meters 0.022245030606464725 Centerline is valid? [True, True] Translation: X:349.21, Y:-15.30, Z:-7.58 [[ 9.99552686e-01 2.72770200e-02 1.22634333e-02 3.49209150e+02] [-2.72711444e-02 9.99627864e-01 -6.46116124e-04 -1.53001782e+01] [-1.22764938e-02 3.11389247e-04 9.99924593e-01 -7.58459055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52439141799994 meters 0.02483209140223699 Centerline is valid? [True, True] Translation: X:349.27, Y:-15.31, Z:-7.59 [[ 9.99680183e-01 2.25981320e-02 1.13514468e-02 3.49267966e+02] [-2.25927840e-02 9.99744571e-01 -5.99159457e-04 -1.53066483e+01] [-1.13620872e-02 3.42507050e-04 9.99935391e-01 -7.58640219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58439141799994 meters 0.027871111548846337 Centerline is valid? [True, True] Translation: X:349.33, Y:-15.31, Z:-7.59 [[ 9.99819817e-01 1.58737395e-02 1.04094968e-02 3.49328233e+02] [-1.58688878e-02 9.99873931e-01 -5.48518441e-04 -1.53123081e+01] [-1.04168915e-02 3.83232471e-04 9.99945669e-01 -7.58583217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64439141799994 meters 0.030231928813773897 Centerline is valid? [True, True] Translation: X:349.39, Y:-15.32, Z:-7.58 [[ 9.99895233e-01 9.98804685e-03 1.04767022e-02 3.49389227e+02] [-9.98281657e-03 9.99950018e-01 -5.51407153e-04 -1.53167601e+01] [-1.04816860e-02 4.46762388e-04 9.99944966e-01 -7.58459319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70439141799994 meters 0.03010144150968428 Centerline is valid? [True, True] Translation: X:349.45, Y:-15.32, Z:-7.58 [[ 9.99929704e-01 7.81650239e-03 8.91565914e-03 3.49451198e+02] [-7.81265586e-03 9.99969372e-01 -4.66182650e-04 -1.53172293e+01] [-8.91902999e-03 3.96494903e-04 9.99960146e-01 -7.58411248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76439141799995 meters 0.03159279167753316 Centerline is valid? [True, True] Translation: X:349.51, Y:-15.32, Z:-7.59 [[ 9.99939061e-01 8.34552910e-03 7.22684243e-03 3.49512313e+02] [-8.34300932e-03 9.99965125e-01 -3.78746451e-04 -1.53203073e+01] [-7.22975123e-03 3.18429757e-04 9.99973814e-01 -7.58650354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82439141799995 meters 0.027218223512415925 Centerline is valid? [True, True] Translation: X:349.57, Y:-15.31, Z:-7.59 [[ 9.99926893e-01 1.08831245e-02 5.26946124e-03 3.49573274e+02] [-1.08817983e-02 9.99940752e-01 -2.80293641e-04 -1.53123742e+01] [-5.27219950e-03 2.22931935e-04 9.99986077e-01 -7.58540079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88439141799995 meters 0.029833746415725757 Centerline is valid? [True, True] Translation: X:349.63, Y:-15.31, Z:-7.59 [[ 9.99879981e-01 1.44759898e-02 5.51988859e-03 3.49632620e+02] [-1.44745854e-02 9.99895194e-01 -2.94286576e-04 -1.53135504e+01] [-5.52357016e-03 2.14353158e-04 9.99984722e-01 -7.58640860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94439141799995 meters 0.025157069728746116 Centerline is valid? [True, True] Translation: X:349.69, Y:-15.30, Z:-7.58 [[ 9.99830902e-01 1.77318745e-02 4.87325733e-03 3.49692439e+02] [-1.77308173e-02 9.99842763e-01 -2.60055956e-04 -1.53043278e+01] [-4.87710235e-03 1.73605145e-04 9.99988092e-01 -7.58417362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00439141799995 meters 0.024400976178348455 Centerline is valid? [True, True] Translation: X:349.75, Y:-15.30, Z:-7.58 [[ 9.99811939e-01 1.87654571e-02 4.89324106e-03 3.49751327e+02] [-1.87644034e-02 9.99823899e-01 -2.61170551e-04 -1.53025990e+01] [-4.89728034e-03 1.69302685e-04 9.99987994e-01 -7.58395333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06439141799996 meters 0.025351676541730928 Centerline is valid? [True, True] Translation: X:349.81, Y:-15.30, Z:-7.59 [[ 9.99811961e-01 1.88281278e-02 4.64151615e-03 3.49809626e+02] [-1.88271802e-02 9.99822722e-01 -2.47769997e-04 -1.53029279e+01] [-4.64535836e-03 1.60336746e-04 9.99989197e-01 -7.58520744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12439141799996 meters 0.026562163351421454 Centerline is valid? [True, True] Translation: X:349.87, Y:-15.30, Z:-7.59 [[ 9.99850200e-01 1.71364754e-02 2.43292446e-03 3.49869651e+02] [-1.71362110e-02 9.99853156e-01 -1.29489922e-04 -1.53036341e+01] [-2.43478620e-03 8.77794179e-05 9.99997032e-01 -7.58691197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18439141799996 meters 0.024946466714776436 Centerline is valid? [True, True] Translation: X:349.93, Y:-15.30, Z:-7.59 [[ 9.99867624e-01 1.62324035e-02 1.11513752e-03 3.49928269e+02] [-1.62323454e-02 9.99868245e-01 -6.11098810e-05 -1.52992353e+01] [-1.11598256e-03 4.30004941e-05 9.99999376e-01 -7.58617466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24439141799996 meters 0.024488507069667514 Centerline is valid? [True, True] Translation: X:349.99, Y:-15.30, Z:-7.59 [[ 9.99822905e-01 1.87609446e-02 1.47854822e-03 3.49985891e+02] [-1.87608467e-02 9.99823997e-01 -8.00975935e-05 -1.52968956e+01] [-1.47979070e-03 5.23445921e-05 9.99998904e-01 -7.58743313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30439141799997 meters 0.022810150872824883 Centerline is valid? [True, True] Translation: X:350.05, Y:-15.29, Z:-7.59 [[ 9.99751106e-01 2.21267343e-02 2.85211136e-03 3.50045834e+02] [-2.21263935e-02 9.99755170e-01 -1.50993854e-04 -1.52937005e+01] [-2.85475408e-03 8.78493342e-05 9.99995921e-01 -7.58706654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36439141799997 meters 0.020348109868689197 Centerline is valid? [True, True] Translation: X:350.11, Y:-15.29, Z:-7.59 [[ 9.99610614e-01 2.76254894e-02 3.93098005e-03 3.50105957e+02] [-2.76248864e-02 9.99618338e-01 -2.07623485e-04 -1.52867122e+01] [-3.93521545e-03 9.89497618e-05 9.99992252e-01 -7.58600789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42439141799997 meters 0.01909094723315975 Centerline is valid? [True, True] Translation: X:350.16, Y:-15.28, Z:-7.59 [[ 9.99456045e-01 3.27503715e-02 3.87654800e-03 3.50164579e+02] [-3.27498214e-02 9.99463560e-01 -2.05320363e-04 -1.52824427e+01] [-3.88119278e-03 7.82524233e-05 9.99992465e-01 -7.58747375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484391418 meters 0.0177138965957467 Centerline is valid? [True, True] Translation: X:350.22, Y:-15.28, Z:-7.59 [[ 9.99288929e-01 3.74109198e-02 4.69664883e-03 3.50223404e+02] [-3.74101673e-02 9.99299964e-01 -2.47995527e-04 -1.52773757e+01] [-4.70263875e-03 7.21167666e-05 9.99988940e-01 -7.58666064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544391418 meters 0.01721219958872756 Centerline is valid? [True, True] Translation: X:350.28, Y:-15.28, Z:-7.59 [[ 9.99204795e-01 3.95765996e-02 4.84468221e-03 3.50281962e+02] [-3.95758266e-02 9.99216537e-01 -2.55352909e-04 -1.52756856e+01] [-4.85099258e-03 6.34175483e-05 9.99988232e-01 -7.58737465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604391418 meters 0.016788086576866864 Centerline is valid? [True, True] Translation: X:350.34, Y:-15.27, Z:-7.59 [[ 9.99104953e-01 4.19766341e-02 5.22059324e-03 3.50340207e+02] [-4.19757706e-02 9.99118591e-01 -2.74915789e-04 -1.52728897e+01] [-5.22753180e-03 5.55313026e-05 9.99986335e-01 -7.58906592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664391418 meters 0.017740928250843828 Centerline is valid? [True, True] Translation: X:350.40, Y:-15.27, Z:-7.59 [[ 9.99065337e-01 4.25488587e-02 7.61886502e-03 3.50398536e+02] [-4.25470496e-02 9.99094384e-01 -3.99444407e-04 -1.52718263e+01] [-7.62896116e-03 7.49108327e-05 9.99970896e-01 -7.58967466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724391418 meters 0.016873452710255792 Centerline is valid? [True, True] Translation: X:350.46, Y:-15.27, Z:-7.59 [[ 9.99108508e-01 4.14103595e-02 8.20799088e-03 3.50456983e+02] [-4.14082272e-02 9.99142219e-01 -4.29637102e-04 -1.52738327e+01] [-8.21874164e-03 8.93757327e-05 9.99966222e-01 -7.58933512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784391418 meters 0.01673413555745575 Centerline is valid? [True, True] Translation: X:350.52, Y:-15.27, Z:-7.59 [[ 9.99164203e-01 3.96650695e-02 9.87814645e-03 3.50515210e+02] [-3.96619117e-02 9.99213024e-01 -5.15438068e-04 -1.52736606e+01] [-9.89081747e-03 1.23221094e-04 9.99951077e-01 -7.58784136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84439141799993 meters 0.016998280122360012 Centerline is valid? [True, True] Translation: X:350.57, Y:-15.27, Z:-7.59 [[ 9.99210045e-01 3.86728220e-02 9.14869401e-03 3.50573892e+02] [-3.86700844e-02 9.99251919e-01 -4.76006121e-04 -1.52745900e+01] [-9.16025855e-03 1.21849328e-04 9.99958037e-01 -7.58997228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90439141799993 meters 0.01685784692222573 Centerline is valid? [True, True] Translation: X:350.63, Y:-15.27, Z:-7.59 [[ 9.99182634e-01 3.95234938e-02 8.48276083e-03 3.50631779e+02] [-3.95211710e-02 9.99218636e-01 -4.41337563e-04 -1.52733292e+01] [-8.49357591e-03 1.05728187e-04 9.99963923e-01 -7.59317953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96439141799993 meters 0.01613728479258544 Centerline is valid? [True, True] Translation: X:350.69, Y:-15.27, Z:-7.59 [[ 9.99033552e-01 4.29565080e-02 9.31134438e-03 3.50690944e+02] [-4.29538757e-02 9.99076940e-01 -4.82598660e-04 -1.52686972e+01] [-9.32348020e-03 8.21739250e-05 9.99956532e-01 -7.59389999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02439141799994 meters 0.0154713199005284 Centerline is valid? [True, True] Translation: X:350.75, Y:-15.26, Z:-7.59 [[ 9.98796380e-01 4.77430694e-02 1.12423954e-02 3.50750086e+02] [-4.77395490e-02 9.98859648e-01 -5.81438872e-04 -1.52632849e+01] [-1.12573348e-02 4.40321541e-05 9.99936633e-01 -7.59402794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08439141799994 meters 0.015556324389790354 Centerline is valid? [True, True] Translation: X:350.81, Y:-15.26, Z:-7.59 [[ 9.98641597e-01 5.04757983e-02 1.29288371e-02 3.50809542e+02] [-5.04713795e-02 9.98725284e-01 -6.68039869e-04 -1.52611773e+01] [-1.29460763e-02 1.45961585e-05 9.99916196e-01 -7.59414972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14439141799994 meters 0.015482911386337776 Centerline is valid? [True, True] Translation: X:350.87, Y:-15.26, Z:-7.60 [[ 9.98484529e-01 5.31502304e-02 1.42722877e-02 3.50867578e+02] [-5.31451600e-02 9.98586527e-01 -7.34567525e-04 -1.52575291e+01] [-1.42911566e-02 -2.50487037e-05 9.99897876e-01 -7.59542159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20439141799994 meters 0.015384820012185578 Centerline is valid? [True, True] Translation: X:350.93, Y:-15.26, Z:-7.60 [[ 9.98565308e-01 5.15005955e-02 1.46633980e-02 3.50925987e+02] [-5.14950889e-02 9.98672964e-01 -7.53106941e-04 -1.52585319e+01] [-1.46827245e-02 -3.06651664e-06 9.99892203e-01 -7.59503846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26439141799995 meters 0.015234594691060808 Centerline is valid? [True, True] Translation: X:350.98, Y:-15.26, Z:-7.60 [[ 9.98703376e-01 4.83324053e-02 1.59858054e-02 3.50984726e+02] [-4.83254777e-02 9.98831305e-01 -8.19588176e-04 -1.52609504e+01] [-1.60067355e-02 4.60037951e-05 9.99871883e-01 -7.59560940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32439141799995 meters 0.015500801419866012 Centerline is valid? [True, True] Translation: X:351.04, Y:-15.26, Z:-7.60 [[ 9.98827567e-01 4.56396546e-02 1.61404326e-02 3.51043067e+02] [-4.56322618e-02 9.98957964e-01 -8.26214295e-04 -1.52637773e+01] [-1.61613218e-02 8.87211684e-05 9.99869393e-01 -7.59665815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38439141799995 meters 0.016181311341950905 Centerline is valid? [True, True] Translation: X:351.10, Y:-15.27, Z:-7.60 [[ 9.98985273e-01 4.17128572e-02 1.69841926e-02 3.51101895e+02] [-4.17041277e-02 9.99129627e-01 -8.67986272e-04 -1.52677905e+01] [-1.70056163e-02 1.58794564e-04 9.99855381e-01 -7.59830001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44439141799995 meters 0.016929749722145518 Centerline is valid? [True, True] Translation: X:351.16, Y:-15.27, Z:-7.60 [[ 9.99118822e-01 3.79854124e-02 1.78518375e-02 3.51160880e+02] [-3.79751996e-02 9.99278267e-01 -9.10853265e-04 -1.52713972e+01] [-1.78735524e-02 2.32123547e-04 9.99840228e-01 -7.59915637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50439141799995 meters 0.01752271985524644 Centerline is valid? [True, True] Translation: X:351.22, Y:-15.28, Z:-7.60 [[ 9.99291176e-01 3.42650680e-02 1.55900570e-02 3.51219758e+02] [-3.42568423e-02 9.99412746e-01 -7.94447944e-04 -1.52752946e+01] [-1.56081235e-02 2.59818697e-04 9.99878152e-01 -7.60300559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56439141799996 meters 0.018794595718105205 Centerline is valid? [True, True] Translation: X:351.28, Y:-15.28, Z:-7.61 [[ 9.99417371e-01 3.11989842e-02 1.38398850e-02 3.51277194e+02] [-3.11922186e-02 9.99513156e-01 -7.04487322e-04 -1.52802913e+01] [-1.38551264e-02 2.72380150e-04 9.99903976e-01 -7.60668697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62439141799996 meters 0.019106345567412853 Centerline is valid? [True, True] Translation: X:351.34, Y:-15.28, Z:-7.61 [[ 9.99455303e-01 2.97311745e-02 1.43231962e-02 3.51335660e+02] [-2.97238013e-02 9.99557886e-01 -7.27427658e-04 -1.52828529e+01] [-1.43384910e-02 3.01291592e-04 9.99897153e-01 -7.60734316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68439141799996 meters 0.019636469082693966 Centerline is valid? [True, True] Translation: X:351.39, Y:-15.29, Z:-7.61 [[ 9.99472873e-01 2.84978969e-02 1.55514021e-02 3.51393942e+02] [-2.84890775e-02 9.99593793e-01 -7.88396085e-04 -1.52865972e+01] [-1.55675526e-02 3.44935401e-04 9.99878759e-01 -7.60736176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74439141799996 meters 0.019517103833661936 Centerline is valid? [True, True] Translation: X:351.45, Y:-15.29, Z:-7.61 [[ 9.99460669e-01 2.85346262e-02 1.62526017e-02 3.51452878e+02] [-2.85250206e-02 9.99592740e-01 -8.22574046e-04 -1.52877682e+01] [-1.62694546e-02 3.58524606e-04 9.99867579e-01 -7.60587891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80439141799997 meters 0.0191696355268578 Centerline is valid? [True, True] Translation: X:351.51, Y:-15.29, Z:-7.61 [[ 9.99468757e-01 2.93365442e-02 1.41976028e-02 3.51511235e+02] [-2.93293081e-02 9.99569546e-01 -7.17659700e-04 -1.52891231e+01] [-1.42125450e-02 3.00872581e-04 9.99898951e-01 -7.60819651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86439141799997 meters 0.018320052445884968 Centerline is valid? [True, True] Translation: X:351.57, Y:-15.29, Z:-7.61 [[ 9.99455377e-01 3.04638628e-02 1.26847147e-02 3.51569622e+02] [-3.04581876e-02 9.99535837e-01 -6.40395167e-04 -1.52889513e+01] [-1.26983358e-02 2.53692974e-04 9.99919341e-01 -7.60997366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92439141799997 meters 0.016892615973002893 Centerline is valid? [True, True] Translation: X:351.63, Y:-15.29, Z:-7.61 [[ 9.99351013e-01 3.40715471e-02 1.16910958e-02 3.51628435e+02] [-3.40669820e-02 9.99419378e-01 -5.89461703e-04 -1.52865933e+01] [-1.17043916e-02 1.90798800e-04 9.99931483e-01 -7.61206221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984391418 meters 0.015825773649112137 Centerline is valid? [True, True] Translation: X:351.69, Y:-15.28, Z:-7.61 [[ 9.99149945e-01 3.92019872e-02 1.27511269e-02 3.51687342e+02] [-3.91969897e-02 9.99231297e-01 -6.41696189e-04 -1.52823871e+01] [-1.27664808e-02 1.41344924e-04 9.99918495e-01 -7.61195121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044391418 meters 0.014917724153881977 Centerline is valid? [True, True] Translation: X:351.75, Y:-15.28, Z:-7.61 [[ 9.98929623e-01 4.41061261e-02 1.39376652e-02 3.51746670e+02] [-4.41006503e-02 9.99026848e-01 -7.00128304e-04 -1.52785934e+01] [-1.39549817e-02 8.47188026e-05 9.99902621e-01 -7.61119530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104391418 meters 0.014652313755364842 Centerline is valid? [True, True] Translation: X:351.81, Y:-15.28, Z:-7.61 [[ 9.98867479e-01 4.55487282e-02 1.37503734e-02 3.51805973e+02] [-4.55435503e-02 9.98962116e-01 -6.89628531e-04 -1.52781130e+01] [-1.37675139e-02 6.26066874e-05 9.99905221e-01 -7.61166789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164391418 meters 0.014714956768410996 Centerline is valid? [True, True] Translation: X:351.86, Y:-15.28, Z:-7.61 [[ 9.98946754e-01 4.42612065e-02 1.20965963e-02 3.51864555e+02] [-4.42571137e-02 9.99019990e-01 -6.05951701e-04 -1.52800731e+01] [-1.21115617e-02 6.99530471e-05 9.99926650e-01 -7.61401921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224391418 meters 0.01533413362690284 Centerline is valid? [True, True] Translation: X:351.92, Y:-15.29, Z:-7.62 [[ 9.99146712e-01 3.98337522e-02 1.09142082e-02 3.51921854e+02] [-3.98301619e-02 9.99206315e-01 -5.46215871e-04 -1.52861538e+01] [-1.09273036e-02 1.11035114e-04 9.99940289e-01 -7.61761912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284391418 meters 0.015600226469752974 Centerline is valid? [True, True] Translation: X:351.98, Y:-15.29, Z:-7.62 [[ 9.99268777e-01 3.68874742e-02 1.00611222e-02 3.51980812e+02] [-3.68842845e-02 9.99319417e-01 -5.02458593e-04 -1.52895540e+01] [-1.00728092e-02 1.30993890e-04 9.99949259e-01 -7.61843338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34439141799993 meters 0.016772276241370936 Centerline is valid? [True, True] Translation: X:352.04, Y:-15.30, Z:-7.62 [[ 9.99417356e-01 3.27419845e-02 9.63904694e-03 3.52038345e+02] [-3.27388637e-02 9.99463824e-01 -4.81425721e-04 -1.52956514e+01] [-9.64964154e-03 1.65573777e-04 9.99953427e-01 -7.62029891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40439141799993 meters 0.018346377875514713 Centerline is valid? [True, True] Translation: X:352.10, Y:-15.30, Z:-7.62 [[ 9.99537186e-01 2.84215572e-02 1.08457023e-02 3.52096666e+02] [-2.84173803e-02 9.99595999e-01 -5.39061642e-04 -1.53016775e+01] [-1.08566416e-02 2.30605711e-04 9.99941038e-01 -7.61932338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46439141799993 meters 0.018774891221127042 Centerline is valid? [True, True] Translation: X:352.16, Y:-15.31, Z:-7.62 [[ 9.99625490e-01 2.54967627e-02 9.93958519e-03 3.52155733e+02] [-2.54931162e-02 9.99674876e-01 -4.93417220e-04 -1.53054939e+01] [-9.94893413e-03 2.39841431e-04 9.99950479e-01 -7.62009553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52439141799994 meters 0.019502048591117885 Centerline is valid? [True, True] Translation: X:352.21, Y:-15.31, Z:-7.62 [[ 9.99659678e-01 2.43149980e-02 9.45033169e-03 3.52214127e+02] [-2.43116554e-02 9.99704318e-01 -4.68442697e-04 -1.53099861e+01] [-9.45892758e-03 2.38530069e-04 9.99955235e-01 -7.62289094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58439141799994 meters 0.02029695078161977 Centerline is valid? [True, True] Translation: X:352.27, Y:-15.31, Z:-7.63 [[ 9.99704916e-01 2.31607209e-02 7.32540519e-03 3.52273020e+02] [-2.31586830e-02 9.99731736e-01 -3.62918546e-04 -1.53135397e+01] [-7.33184550e-03 1.93164718e-04 9.99973103e-01 -7.62580372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64439141799994 meters 0.01969980796633641 Centerline is valid? [True, True] Translation: X:352.33, Y:-15.32, Z:-7.63 [[ 9.99703819e-01 2.33003177e-02 7.02634404e-03 3.52330926e+02] [-2.32984452e-02 9.99728494e-01 -3.48237003e-04 -1.53151537e+01] [-7.03255038e-03 1.84430970e-04 9.99975254e-01 -7.62650023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70439141799994 meters 0.01908746774579816 Centerline is valid? [True, True] Translation: X:352.39, Y:-15.32, Z:-7.63 [[ 9.99686796e-01 2.39310579e-02 7.32220283e-03 3.52390100e+02] [-2.39290528e-02 9.99713594e-01 -3.61339862e-04 -1.53172777e+01] [-7.32875295e-03 1.86013311e-04 9.99973127e-01 -7.62685740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76439141799995 meters 0.019122248818173898 Centerline is valid? [True, True] Translation: X:352.45, Y:-15.32, Z:-7.63 [[ 9.99656751e-01 2.52902870e-02 6.83967945e-03 3.52448189e+02] [-2.52885703e-02 9.99680136e-01 -3.37369339e-04 -1.53199400e+01] [-6.84602385e-03 1.64287822e-04 9.99976552e-01 -7.62737143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82439141799995 meters 0.018236826306777528 Centerline is valid? [True, True] Translation: X:352.51, Y:-15.32, Z:-7.63 [[ 9.99583997e-01 2.77798429e-02 7.75329150e-03 3.52507402e+02] [-2.77777245e-02 9.99614052e-01 -3.80789174e-04 -1.53211776e+01] [-7.76087739e-03 1.65261969e-04 9.99969870e-01 -7.62681086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88439141799995 meters 0.0184812585016451 Centerline is valid? [True, True] Translation: X:352.57, Y:-15.33, Z:-7.63 [[ 9.99573157e-01 2.82195515e-02 7.56041649e-03 3.52565216e+02] [-2.82175489e-02 9.99601737e-01 -3.71449461e-04 -1.53263289e+01] [-7.56788759e-03 1.57954489e-04 9.99971351e-01 -7.62794987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94439141799995 meters 0.018761827995063405 Centerline is valid? [True, True] Translation: X:352.62, Y:-15.33, Z:-7.63 [[ 9.99639755e-01 2.58871499e-02 7.08629251e-03 3.52624134e+02] [-2.58853377e-02 9.99664858e-01 -3.47332460e-04 -1.53298396e+01] [-7.09290904e-03 1.63776260e-04 9.99974832e-01 -7.62760487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00439141799995 meters 0.01959150124783997 Centerline is valid? [True, True] Translation: X:352.68, Y:-15.34, Z:-7.63 [[ 9.99706363e-01 2.32880420e-02 6.69732547e-03 3.52682486e+02] [-2.32863680e-02 9.99728782e-01 -3.27829662e-04 -1.53360929e+01] [-6.70314355e-03 1.71777013e-04 9.99977519e-01 -7.62970925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06439141799996 meters 0.022194628809712347 Centerline is valid? [True, True] Translation: X:352.74, Y:-15.35, Z:-7.63 [[ 9.99811939e-01 1.84173219e-02 6.07366772e-03 3.52740444e+02] [-1.84158574e-02 9.99830370e-01 -2.96956191e-04 -1.53454208e+01] [-6.07810658e-03 1.85048546e-04 9.99981511e-01 -7.63353568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12439141799996 meters 0.023622979514476835 Centerline is valid? [True, True] Translation: X:352.80, Y:-15.35, Z:-7.64 [[ 9.99854335e-01 1.53706558e-02 7.41970128e-03 3.52798538e+02] [-1.53683917e-02 9.99881834e-01 -3.62057498e-04 -1.53511622e+01] [-7.42438958e-03 2.47975883e-04 9.99972408e-01 -7.63517316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18439141799996 meters 0.023626394618221913 Centerline is valid? [True, True] Translation: X:352.86, Y:-15.35, Z:-7.63 [[ 9.99828864e-01 1.54407097e-02 1.01895598e-02 3.52857354e+02] [-1.54364645e-02 9.99880728e-01 -4.95146266e-04 -1.53532311e+01] [-1.01959899e-02 3.37770750e-04 9.99947962e-01 -7.63440551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24439141799996 meters 0.022726193614310983 Centerline is valid? [True, True] Translation: X:352.92, Y:-15.35, Z:-7.63 [[ 9.99792052e-01 1.69343584e-02 1.13613460e-02 3.52916268e+02] [-1.69291895e-02 9.99856539e-01 -5.50980477e-04 -1.53527628e+01] [-1.13690466e-02 3.58527521e-04 9.99935306e-01 -7.63401286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30439141799997 meters 0.02100901829394498 Centerline is valid? [True, True] Translation: X:352.98, Y:-15.35, Z:-7.63 [[ 9.99664523e-01 2.19736489e-02 1.37112909e-02 3.52976654e+02] [-2.19666210e-02 9.99758485e-01 -6.62975133e-04 -1.53482937e+01] [-1.37225474e-02 3.61561989e-04 9.99905776e-01 -7.63328527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36439141799997 meters 0.019025624300418643 Centerline is valid? [True, True] Translation: X:353.04, Y:-15.34, Z:-7.63 [[ 9.99579402e-01 2.52733307e-02 1.42224381e-02 3.53036202e+02] [-2.52661024e-02 9.99680525e-01 -6.87710801e-04 -1.53440880e+01] [-1.42352752e-02 3.28075972e-04 9.99898620e-01 -7.63333658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42439141799997 meters 0.018789703501382773 Centerline is valid? [True, True] Translation: X:353.09, Y:-15.34, Z:-7.63 [[ 9.99513503e-01 2.76625197e-02 1.44063599e-02 3.53093853e+02] [-2.76553599e-02 9.99617275e-01 -6.96007354e-04 -1.53425862e+01] [-1.44200996e-02 2.97255679e-04 9.99895981e-01 -7.63425831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484391418 meters 0.016694899037260232 Centerline is valid? [True, True] Translation: X:353.15, Y:-15.34, Z:-7.63 [[ 9.99437387e-01 2.98992982e-02 1.51967460e-02 3.53153425e+02] [-2.98916182e-02 9.99552877e-01 -7.32311501e-04 -1.53387773e+01] [-1.52118468e-02 2.77644163e-04 9.99884255e-01 -7.63376259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544391418 meters 0.015668476426534794 Centerline is valid? [True, True] Translation: X:353.21, Y:-15.33, Z:-7.63 [[ 9.99273794e-01 3.42331754e-02 1.67324314e-02 3.53211106e+02] [-3.42244865e-02 9.99413846e-01 -8.05443046e-04 -1.53347212e+01] [-1.67501965e-02 2.32199254e-04 9.99859679e-01 -7.63408250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604391418 meters 0.015567072963655759 Centerline is valid? [True, True] Translation: X:353.27, Y:-15.33, Z:-7.63 [[ 9.99230010e-01 3.50784679e-02 1.75752050e-02 3.53269974e+02] [-3.50690545e-02 9.99384535e-01 -8.43612929e-04 -1.53312867e+01] [-1.75939808e-02 2.26617533e-04 9.99845188e-01 -7.63298642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664391418 meters 0.016269916850632678 Centerline is valid? [True, True] Translation: X:353.33, Y:-15.33, Z:-7.63 [[ 9.99347624e-01 3.12100339e-02 1.81730661e-02 3.53328407e+02] [-3.11993565e-02 9.99512802e-01 -8.70828293e-04 -1.53324159e+01] [-1.81913908e-02 3.03272218e-04 9.99834477e-01 -7.63413736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724391418 meters 0.01763745809759433 Centerline is valid? [True, True] Translation: X:353.39, Y:-15.34, Z:-7.64 [[ 9.99464218e-01 2.75784962e-02 1.76267961e-02 3.53387282e+02] [-2.75679108e-02 9.99619577e-01 -8.43277630e-04 -1.53351486e+01] [-1.76433467e-02 3.56891876e-04 9.99844280e-01 -7.63632331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784391418 meters 0.018324421571391664 Centerline is valid? [True, True] Translation: X:353.45, Y:-15.33, Z:-7.64 [[ 9.99523545e-01 2.60587583e-02 1.65415951e-02 3.53445983e+02] [-2.60492487e-02 9.99660348e-01 -7.90128964e-04 -1.53313514e+01] [-1.65565665e-02 3.58856379e-04 9.99862866e-01 -7.63683991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84439141799993 meters 0.019931041124580797 Centerline is valid? [True, True] Translation: X:353.50, Y:-15.33, Z:-7.64 [[ 9.99581947e-01 2.34799548e-02 1.68707557e-02 3.53503561e+02] [-2.34697176e-02 9.99724224e-01 -8.04563732e-04 -1.53295077e+01] [-1.68849943e-02 4.08275510e-04 9.99857355e-01 -7.63663294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90439141799993 meters 0.020565952973314892 Centerline is valid? [True, True] Translation: X:353.56, Y:-15.33, Z:-7.64 [[ 9.99640037e-01 2.04842404e-02 1.73260406e-02 3.53562700e+02] [-2.04730254e-02 9.99790066e-01 -8.24432733e-04 -1.53294021e+01] [-1.73392911e-02 4.69419499e-04 9.99849553e-01 -7.63654532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96439141799993 meters 0.023144789478865974 Centerline is valid? [True, True] Translation: X:353.62, Y:-15.33, Z:-7.64 [[ 9.99725723e-01 1.61973507e-02 1.69152060e-02 3.53620732e+02] [-1.61860704e-02 9.99868674e-01 -8.03570205e-04 -1.53293515e+01] [-1.69260003e-02 5.29559089e-04 9.99856605e-01 -7.63786312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02439141799994 meters 0.023121802340543604 Centerline is valid? [True, True] Translation: X:353.68, Y:-15.33, Z:-7.64 [[ 9.99798630e-01 1.38941624e-02 1.44793597e-02 3.53680127e+02] [-1.38856714e-02 9.99903354e-01 -6.86797966e-04 -1.53257536e+01] [-1.44875028e-02 4.85604035e-04 9.99894933e-01 -7.64186127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08439141799994 meters 0.02495856538218218 Centerline is valid? [True, True] Translation: X:353.74, Y:-15.33, Z:-7.64 [[ 9.99859393e-01 9.88460249e-03 1.35458367e-02 3.53740589e+02] [-9.87681924e-03 9.99951017e-01 -6.41365383e-04 -1.53305913e+01] [-1.35515128e-02 5.07485422e-04 9.99908045e-01 -7.64489201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14439141799994 meters 0.026129413813818534 Centerline is valid? [True, True] Translation: X:353.80, Y:-15.33, Z:-7.64 [[ 9.99871639e-01 8.25780930e-03 1.37300540e-02 3.53801225e+02] [-8.24965975e-03 9.99965760e-01 -6.50087665e-04 -1.53338747e+01] [-1.37349522e-02 5.36735945e-04 9.99905527e-01 -7.64478053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20439141799994 meters 0.026863105172861817 Centerline is valid? [True, True] Translation: X:353.86, Y:-15.34, Z:-7.65 [[ 9.99873372e-01 8.28754004e-03 1.35851731e-02 3.53862394e+02] [-8.27956886e-03 9.99965517e-01 -6.42894668e-04 -1.53376220e+01] [-1.35900326e-02 5.30333884e-04 9.99907511e-01 -7.64683169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26439141799995 meters 0.026812461603872777 Centerline is valid? [True, True] Translation: X:353.92, Y:-15.34, Z:-7.65 [[ 9.99876380e-01 9.66080701e-03 1.24054108e-02 3.53923238e+02] [-9.65425827e-03 9.99953224e-01 -5.87671415e-04 -1.53414805e+01] [-1.24105079e-02 4.67833727e-04 9.99922877e-01 -7.65005027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32439141799995 meters 0.023768103001567835 Centerline is valid? [True, True] Translation: X:353.98, Y:-15.34, Z:-7.65 [[ 9.99852400e-01 1.25190816e-02 1.17665184e-02 3.53983547e+02] [-1.25133772e-02 9.99921549e-01 -5.58296265e-04 -1.53403656e+01] [-1.17725847e-02 4.10974977e-04 9.99930616e-01 -7.65189482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38439141799995 meters 0.022865617333825812 Centerline is valid? [True, True] Translation: X:354.04, Y:-15.34, Z:-7.66 [[ 9.99797460e-01 1.71675508e-02 1.05030370e-02 3.54042246e+02] [-1.71632705e-02 9.99852576e-01 -4.97543719e-04 -1.53419974e+01] [-1.05100302e-02 3.17176482e-04 9.99944718e-01 -7.65563933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44439141799995 meters 0.01933263061868047 Centerline is valid? [True, True] Translation: X:354.10, Y:-15.34, Z:-7.66 [[ 9.99647050e-01 2.45661535e-02 1.01133444e-02 3.54102228e+02] [-2.45625631e-02 9.99698180e-01 -4.79091947e-04 -1.53390586e+01] [-1.01220615e-02 2.30513191e-04 9.99948744e-01 -7.65757108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50439141799995 meters 0.017695871031961206 Centerline is valid? [True, True] Translation: X:354.16, Y:-15.34, Z:-7.66 [[ 9.99486648e-01 3.01285481e-02 1.08954384e-02 3.54161615e+02] [-3.01247091e-02 9.99546015e-01 -5.16332883e-04 -1.53387706e+01] [-1.09060484e-02 1.87845912e-04 9.99940510e-01 -7.65777254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56439141799996 meters 0.017539175569519182 Centerline is valid? [True, True] Translation: X:354.22, Y:-15.34, Z:-7.66 [[ 9.99436290e-01 3.16544969e-02 1.11846032e-02 3.54219674e+02] [-3.16505502e-02 9.99498855e-01 -5.29743651e-04 -1.53413340e+01] [-1.11957669e-02 1.75446184e-04 9.99937310e-01 -7.65944320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62439141799996 meters 0.01619368084246023 Centerline is valid? [True, True] Translation: X:354.28, Y:-15.34, Z:-7.66 [[ 9.99249018e-01 3.73826418e-02 1.01949950e-02 3.54278204e+02] [-3.73796708e-02 9.99301020e-01 -4.81880066e-04 -1.53398476e+01] [-1.02058829e-02 1.00432626e-04 9.99947914e-01 -7.66117143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68439141799996 meters 0.01622766529253788 Centerline is valid? [True, True] Translation: X:354.34, Y:-15.34, Z:-7.66 [[ 9.99183393e-01 3.91895648e-02 9.83493786e-03 3.54336134e+02] [-3.91868926e-02 9.99231791e-01 -4.64342890e-04 -1.53421222e+01] [-9.84557996e-03 7.85630510e-05 9.99951528e-01 -7.66333036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74439141799996 meters 0.016141101162863138 Centerline is valid? [True, True] Translation: X:354.39, Y:-15.34, Z:-7.66 [[ 9.99127810e-01 4.07755195e-02 8.99873614e-03 3.54393771e+02] [-4.07733505e-02 9.99168331e-01 -4.24431092e-04 -1.53436792e+01] [-9.00855857e-03 5.71522844e-05 9.99959420e-01 -7.66286182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80439141799997 meters 0.01648421326627366 Centerline is valid? [True, True] Translation: X:354.45, Y:-15.35, Z:-7.66 [[ 9.99038277e-01 4.27378831e-02 9.79768055e-03 3.54452953e+02] [-4.27354254e-02 9.99086318e-01 -4.60160460e-04 -1.53451228e+01] [-9.80839487e-03 4.10098669e-05 9.99951896e-01 -7.66331913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86439141799997 meters 0.016673365078131486 Centerline is valid? [True, True] Translation: X:354.51, Y:-15.35, Z:-7.66 [[ 9.99091356e-01 4.15759184e-02 9.37579607e-03 3.54511199e+02] [-4.15736231e-02 9.99135346e-01 -4.39657799e-04 -1.53493638e+01] [-9.38596843e-03 4.94724942e-05 9.99955950e-01 -7.66418356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92439141799997 meters 0.017149217638426955 Centerline is valid? [True, True] Translation: X:354.57, Y:-15.36, Z:-7.67 [[ 9.99157003e-01 4.01165487e-02 8.71469211e-03 3.54570183e+02] [-4.01145154e-02 9.99195006e-01 -4.08064807e-04 -1.53550279e+01] [-8.72404698e-03 5.81351590e-05 9.99961943e-01 -7.66667221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984391418 meters 0.01780550723047864 Centerline is valid? [True, True] Translation: X:354.63, Y:-15.36, Z:-7.67 [[ 9.99256594e-01 3.78067269e-02 7.54393276e-03 3.54628742e+02] [-3.78051403e-02 9.99285068e-01 -3.52860736e-04 -1.53618370e+01] [-7.55187986e-03 6.73989810e-05 9.99971482e-01 -7.66904473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044391418 meters 0.01797100031867954 Centerline is valid? [True, True] Translation: X:354.69, Y:-15.37, Z:-7.67 [[ 9.99278408e-01 3.72130507e-02 7.60605673e-03 3.54687528e+02] [-3.72114251e-02 9.99307352e-01 -3.55176254e-04 -1.53670548e+01] [-7.61400560e-03 7.18877512e-05 9.99971010e-01 -7.66906598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104391418 meters 0.017637232404553338 Centerline is valid? [True, True] Translation: X:354.75, Y:-15.37, Z:-7.67 [[ 9.99225495e-01 3.84560388e-02 8.33920391e-03 3.54746224e+02] [-3.84541348e-02 9.99260291e-01 -3.88606514e-04 -1.53707802e+01] [-8.34797959e-03 6.76286652e-05 9.99965153e-01 -7.66864445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164391418 meters 0.01768245840109408 Centerline is valid? [True, True] Translation: X:354.80, Y:-15.37, Z:-7.67 [[ 9.99151714e-01 4.02410313e-02 8.74707865e-03 3.54803573e+02] [-4.02390096e-02 9.99190000e-01 -4.07062684e-04 -1.53731053e+01] [-8.75637414e-03 5.47435961e-05 9.99961661e-01 -7.67028756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224391418 meters 0.017615184877613203 Centerline is valid? [True, True] Translation: X:354.86, Y:-15.38, Z:-7.67 [[ 9.99040271e-01 4.27893271e-02 9.36005312e-03 3.54862289e+02] [-4.27871367e-02 9.99084117e-01 -4.34232797e-04 -1.53752323e+01] [-9.37006093e-03 3.33261787e-05 9.99956099e-01 -7.66910503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284391418 meters 0.017801594837086394 Centerline is valid? [True, True] Translation: X:354.92, Y:-15.38, Z:-7.67 [[ 9.98823716e-01 4.75777973e-02 9.35615341e-03 3.54921208e+02] [-4.75758256e-02 9.98867535e-01 -4.33322161e-04 -1.53766766e+01] [-9.36617441e-03 -1.23142708e-05 9.99956136e-01 -7.66980333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34439141799993 meters 0.01833911667411157 Centerline is valid? [True, True] Translation: X:354.98, Y:-15.38, Z:-7.67 [[ 9.98625517e-01 5.13121912e-02 1.06834511e-02 3.54978704e+02] [-5.13098408e-02 9.98682660e-01 -4.94163276e-04 -1.53773065e+01] [-1.06947340e-02 -5.46821181e-05 9.99942808e-01 -7.67023878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40439141799993 meters 0.019160282387220666 Centerline is valid? [True, True] Translation: X:355.04, Y:-15.38, Z:-7.67 [[ 9.98494403e-01 5.40021905e-02 9.62759783e-03 3.55037628e+02] [-5.40003969e-02 9.98540814e-01 -4.46347273e-04 -1.53793112e+01] [-9.63765311e-03 -7.42188499e-05 9.99953554e-01 -7.67322273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46439141799993 meters 0.019409511678192364 Centerline is valid? [True, True] Translation: X:355.10, Y:-15.38, Z:-7.68 [[ 9.98369229e-01 5.64601300e-02 8.43426218e-03 3.55096353e+02] [-5.64588535e-02 9.98404851e-01 -3.89551065e-04 -1.53821349e+01] [-8.44280237e-03 -8.72729770e-05 9.99964355e-01 -7.67504012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52439141799994 meters 0.01906863665734953 Centerline is valid? [True, True] Translation: X:355.15, Y:-15.39, Z:-7.67 [[ 9.98470560e-01 5.45037568e-02 9.26717392e-03 3.55154576e+02] [-5.45021614e-02 9.98513562e-01 -4.24808069e-04 -1.53884346e+01] [-9.27655248e-03 -8.09226573e-05 9.99956969e-01 -7.67498831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58439141799994 meters 0.018153140340525318 Centerline is valid? [True, True] Translation: X:355.21, Y:-15.40, Z:-7.67 [[ 9.98701944e-01 4.99238647e-02 1.01012764e-02 3.55212557e+02] [-4.99217915e-02 9.98753025e-01 -4.57439391e-04 -1.53990852e+01] [-1.01115175e-02 -4.74282069e-05 9.99948876e-01 -7.67489137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64439141799994 meters 0.01772052831248877 Centerline is valid? [True, True] Translation: X:355.27, Y:-15.41, Z:-7.67 [[ 9.98822587e-01 4.73631407e-02 1.04963442e-02 3.55271238e+02] [-4.73607696e-02 9.98877736e-01 -4.74484433e-04 -1.54073301e+01] [-1.05070376e-02 -2.31891727e-05 9.99944799e-01 -7.67460727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70439141799994 meters 0.017386744926207082 Centerline is valid? [True, True] Translation: X:355.33, Y:-15.42, Z:-7.67 [[ 9.98988020e-01 4.39449688e-02 9.57994692e-03 3.55328519e+02] [-4.39428402e-02 9.99033953e-01 -4.32681358e-04 -1.54162646e+01] [-9.58970641e-03 1.12734174e-05 9.99954018e-01 -7.67453947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76439141799995 meters 0.017229526106455572 Centerline is valid? [True, True] Translation: X:355.39, Y:-15.43, Z:-7.68 [[ 9.99087240e-01 4.19228189e-02 8.19537336e-03 3.55387385e+02] [-4.19211992e-02 9.99120852e-01 -3.69397151e-04 -1.54255018e+01] [-8.20365458e-03 2.55001013e-05 9.99966349e-01 -7.67707047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82439141799995 meters 0.016966812675857233 Centerline is valid? [True, True] Translation: X:355.45, Y:-15.43, Z:-7.68 [[ 9.99104450e-01 4.16872063e-02 7.24389128e-03 3.55445678e+02] [-4.16859370e-02 9.99130710e-01 -3.26187358e-04 -1.54310964e+01] [-7.25119208e-03 2.39268460e-05 9.99973709e-01 -7.67792944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88439141799995 meters 0.017045850634736584 Centerline is valid? [True, True] Translation: X:355.50, Y:-15.44, Z:-7.68 [[ 9.99107538e-01 4.17530745e-02 6.38808337e-03 3.55504245e+02] [-4.17520907e-02 9.99127960e-01 -2.87333869e-04 -1.54371679e+01] [-6.39450978e-03 2.03615978e-05 9.99979555e-01 -7.67945651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94439141799995 meters 0.016884062949530248 Centerline is valid? [True, True] Translation: X:355.56, Y:-15.44, Z:-7.68 [[ 9.99024688e-01 4.36332600e-02 6.76834745e-03 3.55561788e+02] [-4.36321961e-02 9.99047616e-01 -3.04834557e-04 -1.54441047e+01] [-6.77520231e-03 9.21938517e-06 9.99977048e-01 -7.67962647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00439141799995 meters 0.01696627460428518 Centerline is valid? [True, True] Translation: X:355.62, Y:-15.45, Z:-7.68 [[ 9.98865279e-01 4.71107135e-02 6.98104182e-03 3.55620009e+02] [-4.71096777e-02 9.98889674e-01 -3.12832765e-04 -1.54481481e+01] [-6.98802837e-03 -1.63968437e-05 9.99975583e-01 -7.67983513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06439141799996 meters 0.01735548167893473 Centerline is valid? [True, True] Translation: X:355.68, Y:-15.45, Z:-7.68 [[ 9.98720029e-01 5.00487156e-02 7.30953994e-03 3.55678778e+02] [-5.00476700e-02 9.98746777e-01 -3.25997662e-04 -1.54510525e+01] [-7.31669522e-03 -4.02450482e-05 9.99973232e-01 -7.68082730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12439141799996 meters 0.018225192489030515 Centerline is valid? [True, True] Translation: X:355.74, Y:-15.46, Z:-7.68 [[ 9.98534954e-01 5.37201520e-02 6.48780133e-03 3.55737605e+02] [-5.37193884e-02 9.98556028e-01 -2.92036615e-04 -1.54551224e+01] [-6.49412138e-03 -5.69119511e-05 9.99978911e-01 -7.68245258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18439141799996 meters 0.019943508247424864 Centerline is valid? [True, True] Translation: X:355.80, Y:-15.46, Z:-7.68 [[ 9.98214082e-01 5.93671196e-02 6.64771053e-03 3.55795969e+02] [-5.93664738e-02 9.98236212e-01 -2.94613335e-04 -1.54553595e+01] [-6.65347573e-03 -1.00563954e-04 9.99977860e-01 -7.68278749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24439141799996 meters 0.021257377287374344 Centerline is valid? [True, True] Translation: X:355.85, Y:-15.46, Z:-7.68 [[ 9.97956861e-01 6.35198752e-02 6.87958065e-03 3.55854990e+02] [-6.35192694e-02 9.97980565e-01 -3.06732773e-04 -1.54555831e+01] [-6.88517141e-03 -1.30879862e-04 9.99976288e-01 -7.68230031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30439141799997 meters 0.021803927216825378 Centerline is valid? [True, True] Translation: X:355.91, Y:-15.46, Z:-7.68 [[ 9.97643959e-01 6.81407836e-02 7.96017374e-03 3.55913796e+02] [-6.81401426e-02 9.97675697e-01 -3.52024924e-04 -1.54583271e+01] [-7.96565914e-03 -1.91211835e-04 9.99968255e-01 -7.68115210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36439141799997 meters 0.023535453905509256 Centerline is valid? [True, True] Translation: X:355.97, Y:-15.46, Z:-7.68 [[ 9.97408905e-01 7.14885861e-02 8.05349135e-03 3.55972499e+02] [-7.14880578e-02 9.97441393e-01 -3.53819027e-04 -1.54588134e+01] [-8.05817966e-03 -2.22826207e-04 9.99967508e-01 -7.68204659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42439141799997 meters 0.02399052558830713 Centerline is valid? [True, True] Translation: X:356.03, Y:-15.46, Z:-7.68 [[ 9.97402395e-01 7.15747390e-02 8.09435809e-03 3.56030985e+02] [-7.15742260e-02 9.97435214e-01 -3.53402333e-04 -1.54611717e+01] [-8.09889247e-03 -2.26863082e-04 9.99967178e-01 -7.68342914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484391418 meters 0.023802371094138346 Centerline is valid? [True, True] Translation: X:356.09, Y:-15.47, Z:-7.68 [[ 9.97497406e-01 7.02527662e-02 7.96700450e-03 3.56089080e+02] [-7.02522438e-02 9.97529199e-01 -3.45752086e-04 -1.54675349e+01] [-7.97160965e-03 -2.14813133e-04 9.99968203e-01 -7.68464337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544391418 meters 0.0237429246546612 Centerline is valid? [True, True] Translation: X:356.15, Y:-15.47, Z:-7.68 [[ 9.97565156e-01 6.91248713e-02 9.24723908e-03 3.56146372e+02] [-6.91241703e-02 9.97607985e-01 -3.95776038e-04 -1.54730061e+01] [-9.25247752e-03 -2.44395344e-04 9.99957165e-01 -7.68432500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604391418 meters 0.02352079246397911 Centerline is valid? [True, True] Translation: X:356.20, Y:-15.48, Z:-7.69 [[ 9.97699877e-01 6.71281488e-02 9.42162427e-03 3.56204585e+02] [-6.71273214e-02 9.97744336e-01 -4.04382728e-04 -1.54779786e+01] [-9.42751771e-03 -2.28995802e-04 9.99955534e-01 -7.68548010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664391418 meters 0.02066105563937362 Centerline is valid? [True, True] Translation: X:356.26, Y:-15.49, Z:-7.69 [[ 9.97954287e-01 6.33075886e-02 8.91014728e-03 3.56262749e+02] [-6.33067120e-02 9.97994046e-01 -3.80667156e-04 -1.54879226e+01] [-8.91637305e-03 -1.84183708e-04 9.99960231e-01 -7.68550929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724391418 meters 0.019176796709530784 Centerline is valid? [True, True] Translation: X:356.32, Y:-15.50, Z:-7.69 [[ 9.98166810e-01 5.98517818e-02 8.98796417e-03 3.56321638e+02] [-5.98507743e-02 9.98207263e-01 -3.81264382e-04 -1.54964923e+01] [-8.99467047e-03 -1.57371164e-04 9.99959535e-01 -7.68727450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784391418 meters 0.018950821891584497 Centerline is valid? [True, True] Translation: X:356.38, Y:-15.50, Z:-7.69 [[ 9.98252359e-01 5.80167076e-02 1.12378857e-02 3.56379257e+02] [-5.80150825e-02 9.98315596e-01 -4.70829626e-04 -1.55013892e+01] [-1.12462726e-02 -1.81960082e-04 9.99936742e-01 -7.68696420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84439141799993 meters 0.019766949572949877 Centerline is valid? [True, True] Translation: X:356.44, Y:-15.50, Z:-7.69 [[ 9.98318897e-01 5.65508047e-02 1.27038107e-02 3.56436869e+02] [-5.65486282e-02 9.98399705e-01 -5.30755278e-04 -1.55033446e+01] [-1.27134955e-02 -1.88520045e-04 9.99919162e-01 -7.68863779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90439141799993 meters 0.0182460925171725 Centerline is valid? [True, True] Translation: X:356.50, Y:-15.51, Z:-7.69 [[ 9.98405353e-01 5.48038625e-02 1.35383757e-02 3.56495801e+02] [-5.48012511e-02 9.98497123e-01 -5.64065081e-04 -1.55118430e+01] [-1.35489422e-02 -1.78754332e-04 9.99908193e-01 -7.68860228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96439141799993 meters 0.019941759083894065 Centerline is valid? [True, True] Translation: X:356.55, Y:-15.51, Z:-7.69 [[ 9.98329542e-01 5.60450195e-02 1.40385573e-02 3.56553552e+02] [-5.60423476e-02 9.98428222e-01 -5.83956942e-04 -1.55123912e+01] [-1.40492197e-02 -2.03772241e-04 9.99901284e-01 -7.69129208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02439141799994 meters 0.01742399416155818 Centerline is valid? [True, True] Translation: X:356.61, Y:-15.52, Z:-7.69 [[ 9.98183072e-01 5.82058528e-02 1.55767133e-02 3.56611702e+02] [-5.82028503e-02 9.98304568e-01 -6.46402212e-04 -1.55191559e+01] [-1.55879285e-02 -2.61381370e-04 9.99878467e-01 -7.68914310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08439141799994 meters 0.017572033274491732 Centerline is valid? [True, True] Translation: X:356.67, Y:-15.52, Z:-7.69 [[ 9.98152399e-01 5.83269677e-02 1.70221317e-02 3.56668357e+02] [-5.83234228e-02 9.98297491e-01 -7.05036347e-04 -1.55217619e+01] [-1.70342740e-02 -2.89055262e-04 9.99854864e-01 -7.69075521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14439141799994 meters 0.017413939476875806 Centerline is valid? [True, True] Translation: X:356.73, Y:-15.52, Z:-7.69 [[ 9.98160164e-01 5.75560617e-02 1.90679382e-02 3.56726324e+02] [-5.75515702e-02 9.98342226e-01 -7.84667151e-04 -1.55241695e+01] [-1.90814902e-02 -3.14166290e-04 9.99817882e-01 -7.69075957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20439141799994 meters 0.016270731049400734 Centerline is valid? [True, True] Translation: X:356.79, Y:-15.53, Z:-7.69 [[ 9.98235003e-01 5.57669417e-02 2.04187904e-02 3.56785158e+02] [-5.57614614e-02 9.98443768e-01 -8.38087092e-04 -1.55288295e+01] [-2.04337515e-02 -3.01973720e-04 9.99791163e-01 -7.69112222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26439141799995 meters 0.016036671541423818 Centerline is valid? [True, True] Translation: X:356.84, Y:-15.53, Z:-7.69 [[ 9.98336430e-01 5.39315732e-02 2.03901595e-02 3.56844353e+02] [-5.39257592e-02 9.98544598e-01 -8.35263414e-04 -1.55305182e+01] [-2.04055307e-02 -2.65680939e-04 9.99791750e-01 -7.69322648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32439141799995 meters 0.016096584588020033 Centerline is valid? [True, True] Translation: X:356.90, Y:-15.53, Z:-7.70 [[ 9.98364862e-01 5.35557900e-02 1.99844767e-02 3.56900943e+02] [-5.35501589e-02 9.98564826e-01 -8.17190448e-04 -1.55300133e+01] [-1.99995608e-02 -2.54317673e-04 9.99799956e-01 -7.69608969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38439141799995 meters 0.015930414257268474 Centerline is valid? [True, True] Translation: X:356.96, Y:-15.53, Z:-7.70 [[ 9.98401151e-01 5.27452319e-02 2.03244326e-02 3.56958095e+02] [-5.27392956e-02 9.98607971e-01 -8.28346303e-04 -1.55282241e+01] [-2.03398317e-02 -2.44874354e-04 9.99793094e-01 -7.69685578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44439141799995 meters 0.01542109807385083 Centerline is valid? [True, True] Translation: X:357.02, Y:-15.53, Z:-7.70 [[ 9.98460678e-01 5.13359648e-02 2.09974765e-02 3.57016540e+02] [-5.13294155e-02 9.98681414e-01 -8.51098683e-04 -1.55286044e+01] [-2.10134815e-02 -2.27999626e-04 9.99779166e-01 -7.69737486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50439141799995 meters 0.014859728278179088 Centerline is valid? [True, True] Translation: X:357.08, Y:-15.53, Z:-7.70 [[ 9.98561478e-01 4.91377487e-02 2.14582232e-02 3.57075082e+02] [-4.91304372e-02 9.98791994e-01 -8.68107553e-04 -1.55287428e+01] [-2.14749583e-02 -1.87393123e-04 9.99769369e-01 -7.69860163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56439141799996 meters 0.014997504942772948 Centerline is valid? [True, True] Translation: X:357.13, Y:-15.52, Z:-7.70 [[ 9.98587046e-01 4.84988903e-02 2.17202432e-02 3.57133066e+02] [-4.84912837e-02 9.98823221e-01 -8.77063297e-04 -1.55249989e+01] [-2.17372198e-02 -1.77418427e-04 9.99763703e-01 -7.69969010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62439141799996 meters 0.014584839821746966 Centerline is valid? [True, True] Translation: X:357.19, Y:-15.53, Z:-7.70 [[ 9.98630747e-01 4.74185414e-02 2.20932695e-02 3.57192158e+02] [-4.74104528e-02 9.98875096e-01 -8.90054632e-04 -1.55251957e+01] [-2.21106218e-02 -1.58615986e-04 9.99755518e-01 -7.70050639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68439141799996 meters 0.014755340720592779 Centerline is valid? [True, True] Translation: X:357.25, Y:-15.52, Z:-7.70 [[ 9.98665571e-01 4.68742822e-02 2.16766692e-02 3.57250251e+02] [-4.68664050e-02 9.98900786e-01 -8.71541939e-04 -1.55210478e+01] [-2.16936948e-02 -1.45528629e-04 9.99764654e-01 -7.70348259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74439141799996 meters 0.014542765900895304 Centerline is valid? [True, True] Translation: X:357.31, Y:-15.52, Z:-7.71 [[ 9.98735693e-01 4.56739830e-02 2.09976902e-02 3.57308860e+02] [-4.56663801e-02 9.98956392e-01 -8.41685132e-04 -1.55195041e+01] [-2.10142199e-02 -1.18267517e-04 9.99779170e-01 -7.70507784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80439141799997 meters 0.014392911074838975 Centerline is valid? [True, True] Translation: X:357.37, Y:-15.52, Z:-7.71 [[ 9.98859848e-01 4.27385524e-02 2.12701556e-02 3.57367543e+02] [-4.27301232e-02 9.99086289e-01 -8.50831647e-04 -1.55171745e+01] [-2.12870841e-02 -5.90148006e-05 9.99773403e-01 -7.70631981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86439141799997 meters 0.01449551457529964 Centerline is valid? [True, True] Translation: X:357.43, Y:-15.52, Z:-7.71 [[ 9.98973823e-01 3.94737756e-02 2.22063575e-02 3.57426111e+02] [-3.94638242e-02 9.99220607e-01 -8.86355306e-04 -1.55162205e+01] [-2.22240378e-02 9.09795957e-06 9.99753016e-01 -7.70700743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92439141799997 meters 0.014530408449227717 Centerline is valid? [True, True] Translation: X:357.48, Y:-15.51, Z:-7.71 [[ 9.99110545e-01 3.66438853e-02 2.08649330e-02 3.57483723e+02] [-3.66345165e-02 9.99328385e-01 -8.31199570e-04 -1.55133588e+01] [-2.08813781e-02 6.60835233e-05 9.99781958e-01 -7.70872318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984391418 meters 0.014179171701951416 Centerline is valid? [True, True] Translation: X:357.54, Y:-15.51, Z:-7.71 [[ 9.99186683e-01 3.55694236e-02 1.89944547e-02 3.57542432e+02] [-3.55614998e-02 9.99367205e-01 -7.54871569e-04 -1.55092644e+01] [-1.90092854e-02 7.87863207e-05 9.99819304e-01 -7.71233305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044391418 meters 0.013978591189687566 Centerline is valid? [True, True] Translation: X:357.60, Y:-15.51, Z:-7.71 [[ 9.99161053e-01 3.63124458e-02 1.89366265e-02 3.57601008e+02] [-3.63047307e-02 9.99340484e-01 -7.51146452e-04 -1.55052604e+01] [-1.89514135e-02 6.30271530e-05 9.99820404e-01 -7.71352157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104391418 meters 0.013772168293156478 Centerline is valid? [True, True] Translation: X:357.66, Y:-15.50, Z:-7.71 [[ 9.99065494e-01 3.91040311e-02 1.84123269e-02 3.57659665e+02] [-3.90972516e-02 9.99235145e-01 -7.28166504e-04 -1.54956819e+01] [-1.84267184e-02 7.61465135e-06 9.99830214e-01 -7.71482834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164391418 meters 0.01368075582376435 Centerline is valid? [True, True] Translation: X:357.72, Y:-15.49, Z:-7.72 [[ 9.98925364e-01 4.26044582e-02 1.82476523e-02 3.57719321e+02] [-4.25984259e-02 9.99092016e-01 -7.19325793e-04 -1.54860081e+01] [-1.82617302e-02 -5.87684842e-05 9.99833239e-01 -7.71650103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224391418 meters 0.013871201857185213 Centerline is valid? [True, True] Translation: X:357.78, Y:-15.48, Z:-7.72 [[ 9.98797282e-01 4.55196800e-02 1.82194520e-02 3.57777462e+02] [-4.55141772e-02 9.98963436e-01 -7.16781327e-04 -1.54785940e+01] [-1.82331940e-02 -1.13324124e-04 9.99833755e-01 -7.71770833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284391418 meters 0.014069638256254622 Centerline is valid? [True, True] Translation: X:357.84, Y:-15.47, Z:-7.72 [[ 9.98593271e-01 4.97169256e-02 1.84311416e-02 3.57836815e+02] [-4.97120453e-02 9.98763330e-01 -7.23138730e-04 -1.54678645e+01] [-1.84443006e-02 -1.94128274e-04 9.99829871e-01 -7.71827198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34439141799993 meters 0.014352172621822737 Centerline is valid? [True, True] Translation: X:357.90, Y:-15.46, Z:-7.72 [[ 9.98539597e-01 5.09256247e-02 1.80347972e-02 3.57895587e+02] [-5.09211747e-02 9.98702426e-01 -7.06169893e-04 -1.54626544e+01] [-1.80473579e-02 -2.13214461e-04 9.99837110e-01 -7.72013653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40439141799993 meters 0.01442271617635068 Centerline is valid? [True, True] Translation: X:357.95, Y:-15.46, Z:-7.72 [[ 9.98503863e-01 5.16001590e-02 1.80958571e-02 3.57954932e+02] [-5.15958162e-02 9.98667799e-01 -7.07090522e-04 -1.54587099e+01] [-1.81082357e-02 -2.27637898e-04 9.99836007e-01 -7.72156711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46439141799993 meters 0.014046297378657717 Centerline is valid? [True, True] Translation: X:358.01, Y:-15.45, Z:-7.72 [[ 9.98494190e-01 5.14559470e-02 1.90168052e-02 3.58012649e+02] [-5.14511417e-02 9.98675237e-01 -7.42185354e-04 -1.54524564e+01] [-1.90298023e-02 -2.37368579e-04 9.99818889e-01 -7.72301685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52439141799994 meters 0.012713173802496184 Centerline is valid? [True, True] Translation: X:358.07, Y:-15.45, Z:-7.72 [[ 9.98785947e-01 4.44023915e-02 2.13321194e-02 3.58070774e+02] [-4.43949039e-02 9.99013720e-01 -8.24681040e-04 -1.54544112e+01] [-2.13476978e-02 -1.23357557e-04 9.99772104e-01 -7.72355732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58439141799994 meters 0.012337115810723616 Centerline is valid? [True, True] Translation: X:358.13, Y:-15.46, Z:-7.72 [[ 9.99098380e-01 3.59902290e-02 2.25195371e-02 3.58129705e+02] [-3.59798948e-02 9.99352140e-01 -8.64036518e-04 -1.54624279e+01] [-2.25360445e-02 5.30069083e-05 9.99746030e-01 -7.72413307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64439141799994 meters 0.01404339273744164 Centerline is valid? [True, True] Translation: X:358.19, Y:-15.47, Z:-7.73 [[ 9.99461131e-01 2.50575330e-02 2.12030203e-02 3.58188075e+02] [-2.50459456e-02 9.99685971e-01 -8.11918863e-04 -1.54723561e+01] [-2.12167066e-02 2.80431653e-04 9.99774861e-01 -7.72852299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70439141799994 meters 0.014669845982440578 Centerline is valid? [True, True] Translation: X:358.25, Y:-15.48, Z:-7.73 [[ 9.99512024e-01 2.35725713e-02 2.04950535e-02 3.58246695e+02] [-2.35614663e-02 9.99722083e-01 -7.83175118e-04 -1.54785500e+01] [-2.05078190e-02 2.99899436e-04 9.99789648e-01 -7.73265074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76439141799995 meters 0.014039069961445785 Centerline is valid? [True, True] Translation: X:358.31, Y:-15.48, Z:-7.73 [[ 9.99406706e-01 2.63117731e-02 2.22244620e-02 3.58305210e+02] [-2.62994351e-02 9.99653751e-01 -8.47303984e-04 -1.54779575e+01] [-2.22390609e-02 2.62310487e-04 9.99752647e-01 -7.73254902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82439141799995 meters 0.013397496910432532 Centerline is valid? [True, True] Translation: X:358.36, Y:-15.48, Z:-7.73 [[ 9.99209498e-01 3.09629758e-02 2.49333762e-02 3.58363700e+02] [-3.09489491e-02 9.99520517e-01 -9.48352344e-04 -1.54764607e+01] [-2.49507848e-02 1.75940879e-04 9.99688665e-01 -7.73280388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88439141799995 meters 0.013325953573121748 Centerline is valid? [True, True] Translation: X:358.42, Y:-15.48, Z:-7.73 [[ 9.99117524e-01 3.22059948e-02 2.69619618e-02 3.58421212e+02] [-3.21901126e-02 9.99481241e-01 -1.02299748e-03 -1.54783895e+01] [-2.69809217e-02 1.54186125e-04 9.99635937e-01 -7.73431189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94439141799995 meters 0.013964853662003092 Centerline is valid? [True, True] Translation: X:358.48, Y:-15.48, Z:-7.74 [[ 9.99151506e-01 3.07634663e-02 2.73838852e-02 3.58478380e+02] [-3.07466263e-02 9.99526674e-01 -1.03590972e-03 -1.54829874e+01] [-2.74027919e-02 1.93068667e-04 9.99624454e-01 -7.73516021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00439141799995 meters 0.014129855392026025 Centerline is valid? [True, True] Translation: X:358.54, Y:-15.49, Z:-7.74 [[ 9.99167574e-01 3.00366606e-02 2.76035743e-02 3.58537223e+02] [-3.00193243e-02 9.99548775e-01 -1.04232350e-03 -1.54859060e+01] [-2.76224268e-02 2.12815193e-04 9.99618405e-01 -7.73826564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06439141799996 meters 0.014429565080826413 Centerline is valid? [True, True] Translation: X:358.60, Y:-15.49, Z:-7.74 [[ 9.99190428e-01 2.84925591e-02 2.84018087e-02 3.58595343e+02] [-2.84736533e-02 9.99593971e-01 -1.06994821e-03 -1.54906845e+01] [-2.84207623e-02 2.60378750e-04 9.99596015e-01 -7.73933207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12439141799996 meters 0.01475879844863937 Centerline is valid? [True, True] Translation: X:358.65, Y:-15.50, Z:-7.74 [[ 9.99263511e-01 2.71629939e-02 2.71036512e-02 3.58653028e+02] [-2.71453600e-02 9.99630978e-01 -1.01840317e-03 -1.54951356e+01] [-2.71213122e-02 2.81914756e-04 9.99632110e-01 -7.74072784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18439141799996 meters 0.015099325944309563 Centerline is valid? [True, True] Translation: X:358.71, Y:-15.50, Z:-7.74 [[ 9.99286443e-01 2.63991006e-02 2.70128022e-02 3.58711974e+02] [-2.63813756e-02 9.99651438e-01 -1.01240643e-03 -1.54985624e+01] [-2.70301132e-02 2.99049144e-04 9.99634575e-01 -7.74324392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24439141799996 meters 0.015847779377596235 Centerline is valid? [True, True] Translation: X:358.77, Y:-15.50, Z:-7.74 [[ 9.99354683e-01 2.47963876e-02 2.59876135e-02 3.58770280e+02] [-2.47794927e-02 9.99692469e-01 -9.71997159e-04 -1.55023772e+01] [-2.60037235e-02 3.27410035e-04 9.99661792e-01 -7.74473048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30439141799997 meters 0.015890921572393395 Centerline is valid? [True, True] Translation: X:358.83, Y:-15.50, Z:-7.75 [[ 9.99381914e-01 2.47978990e-02 2.49169269e-02 3.58828919e+02] [-2.47824149e-02 9.99692436e-01 -9.30082276e-04 -1.55044141e+01] [-2.49323274e-02 3.12005785e-04 9.99689093e-01 -7.74636612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36439141799997 meters 0.016147685452920123 Centerline is valid? [True, True] Translation: X:358.89, Y:-15.51, Z:-7.75 [[ 9.99442637e-01 2.47677042e-02 2.23824991e-02 3.58887996e+02] [-2.47552381e-02 9.99693194e-01 -8.33905454e-04 -1.55072111e+01] [-2.23962860e-02 2.79356570e-04 9.99749133e-01 -7.74839178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42439141799997 meters 0.015896210522711722 Centerline is valid? [True, True] Translation: X:358.95, Y:-15.51, Z:-7.75 [[ 9.99474918e-01 2.63351509e-02 1.88771600e-02 3.58945323e+02] [-2.63265847e-02 9.99653149e-01 -7.02193360e-04 -1.55085138e+01] [-1.88891048e-02 2.04853500e-04 9.99821564e-01 -7.75119755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484391418 meters 0.015212338490567365 Centerline is valid? [True, True] Translation: X:359.00, Y:-15.50, Z:-7.75 [[ 9.99374605e-01 3.10674317e-02 1.68882446e-02 3.59003977e+02] [-3.10612777e-02 9.99517286e-01 -6.26635550e-04 -1.55048810e+01] [-1.68995604e-02 1.01673199e-04 9.99857187e-01 -7.75223016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544391418 meters 0.014853123223114995 Centerline is valid? [True, True] Translation: X:359.06, Y:-15.50, Z:-7.75 [[ 9.99226581e-01 3.59902264e-02 1.58412210e-02 3.59062660e+02] [-3.59854482e-02 9.99352142e-01 -5.86664115e-04 -1.55027260e+01] [-1.58520723e-02 1.61569392e-05 9.99874348e-01 -7.75317886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604391418 meters 0.015106885903623243 Centerline is valid? [True, True] Translation: X:359.12, Y:-15.50, Z:-7.75 [[ 9.99021674e-01 4.19193497e-02 1.40876945e-02 3.59121581e+02] [-4.19161730e-02 9.99120995e-01 -5.20808409e-04 -1.55009411e+01] [-1.40971433e-02 -7.02033522e-05 9.99900628e-01 -7.75471714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664391418 meters 0.01583128402513745 Centerline is valid? [True, True] Translation: X:359.18, Y:-15.50, Z:-7.76 [[ 9.98918603e-01 4.47553593e-02 1.25929315e-02 3.59180255e+02] [-4.47530571e-02 9.98997972e-01 -4.64695594e-04 -1.55011138e+01] [-1.26011107e-02 -9.93791095e-05 9.99920598e-01 -7.75687309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724391418 meters 0.016740820255754442 Centerline is valid? [True, True] Translation: X:359.24, Y:-15.50, Z:-7.76 [[ 9.98774706e-01 4.83276475e-02 1.06547988e-02 3.59239219e+02] [-4.83261843e-02 9.98831529e-01 -3.94897727e-04 -1.55011681e+01] [-1.06614335e-02 -1.20491911e-04 9.99943158e-01 -7.75894597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784391418 meters 0.017720124895510347 Centerline is valid? [True, True] Translation: X:359.30, Y:-15.50, Z:-7.76 [[ 9.98614106e-01 5.17089908e-02 9.80038476e-03 3.59298227e+02] [-5.17079382e-02 9.98662185e-01 -3.60934086e-04 -1.55014778e+01] [-9.80593720e-03 -1.46323820e-04 9.99951910e-01 -7.76008684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84439141799993 meters 0.01923752241535116 Centerline is valid? [True, True] Translation: X:359.36, Y:-15.50, Z:-7.76 [[ 9.98277847e-01 5.77969473e-02 1.00425215e-02 3.59357907e+02] [-5.77962089e-02 9.98328336e-01 -3.63977696e-04 -1.54998841e+01] [-1.00467706e-02 -2.17068801e-04 9.99949506e-01 -7.76016103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90439141799993 meters 0.020769406022600804 Centerline is valid? [True, True] Translation: X:359.42, Y:-15.50, Z:-7.76 [[ 9.98010526e-01 6.23057730e-02 9.64266448e-03 3.59417393e+02] [-6.23053058e-02 9.98057076e-01 -3.49135153e-04 -1.54981835e+01] [-9.64568265e-03 -2.52348602e-04 9.99953447e-01 -7.76076641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96439141799993 meters 0.021967090780943534 Centerline is valid? [True, True] Translation: X:359.48, Y:-15.50, Z:-7.76 [[ 9.97884880e-01 6.44327722e-02 8.61305808e-03 3.59475824e+02] [-6.44324532e-02 9.97922021e-01 -3.14802930e-04 -1.54983413e+01] [-8.61544395e-03 -2.40823378e-04 9.99962857e-01 -7.76286936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02439141799994 meters 0.02188276341543989 Centerline is valid? [True, True] Translation: X:359.53, Y:-15.50, Z:-7.77 [[ 9.97935481e-01 6.37485899e-02 7.80339301e-03 3.59533053e+02] [-6.37483152e-02 9.97965967e-01 -2.84184531e-04 -1.55013287e+01] [-7.80563701e-03 -2.13855330e-04 9.99969513e-01 -7.76504017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08439141799994 meters 0.02311560190687872 Centerline is valid? [True, True] Translation: X:359.59, Y:-15.50, Z:-7.77 [[ 9.98022502e-01 6.23976754e-02 7.59053323e-03 3.59591159e+02] [-6.23974176e-02 9.98051346e-01 -2.71010278e-04 -1.55036479e+01] [-7.59265232e-03 -2.03155316e-04 9.99971155e-01 -7.76834034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14439141799994 meters 0.022366730524134928 Centerline is valid? [True, True] Translation: X:359.65, Y:-15.51, Z:-7.77 [[ 9.98252211e-01 5.86100613e-02 7.57522891e-03 3.59649230e+02] [-5.86097037e-02 9.98280937e-01 -2.69385793e-04 -1.55107648e+01] [-7.57799533e-03 -1.75066958e-04 9.99971271e-01 -7.77049864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20439141799994 meters 0.02275892586925461 Centerline is valid? [True, True] Translation: X:359.71, Y:-15.51, Z:-7.77 [[ 9.98010472e-01 6.26691154e-02 6.90508407e-03 3.59708515e+02] [-6.26689195e-02 9.98034341e-01 -2.44941094e-04 -1.55120108e+01] [-6.90686128e-03 -1.88280381e-04 9.99976130e-01 -7.77075647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26439141799995 meters 0.024922110877241728 Centerline is valid? [True, True] Translation: X:359.77, Y:-15.51, Z:-7.77 [[ 9.97920721e-01 6.40829857e-02 6.89966188e-03 3.59766019e+02] [-6.40828228e-02 9.97944553e-01 -2.44906310e-04 -1.55106040e+01] [-6.90117432e-03 -1.97752728e-04 9.99976167e-01 -7.77335531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32439141799995 meters 0.023655627420596445 Centerline is valid? [True, True] Translation: X:359.83, Y:-15.51, Z:-7.77 [[ 9.97735530e-01 6.69901801e-02 6.01068184e-03 3.59825052e+02] [-6.69901144e-02 9.97753617e-01 -2.12494815e-04 -1.55147664e+01] [-6.01141461e-03 -1.90642637e-04 9.99981913e-01 -7.77321861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38439141799995 meters 0.02432300290224155 Centerline is valid? [True, True] Translation: X:359.88, Y:-15.52, Z:-7.77 [[ 9.97530763e-01 7.00030826e-02 5.65201949e-03 3.59884274e+02] [-7.00030723e-02 9.97546756e-01 -1.99898249e-04 -1.55165182e+01] [-5.65214719e-03 -1.96254076e-04 9.99984007e-01 -7.77485186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44439141799995 meters 0.026044320940333925 Centerline is valid? [True, True] Translation: X:359.94, Y:-15.52, Z:-7.78 [[ 9.97312244e-01 7.30158466e-02 6.08071611e-03 3.59944248e+02] [-7.30158983e-02 9.97330754e-01 -2.13787749e-04 -1.55162263e+01] [-6.08009508e-03 -2.30775810e-04 9.99981489e-01 -7.77655796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50439141799995 meters 0.02585748029594781 Centerline is valid? [True, True] Translation: X:360.00, Y:-15.52, Z:-7.78 [[ 9.97458050e-01 7.09509232e-02 6.58819375e-03 3.60002930e+02] [-7.09509174e-02 9.97479780e-01 -2.34891594e-04 -1.55206252e+01] [-6.58825583e-03 -2.33143879e-04 9.99978270e-01 -7.77827925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56439141799996 meters 0.02321596085275036 Centerline is valid? [True, True] Translation: X:360.06, Y:-15.53, Z:-7.78 [[ 9.97682549e-01 6.76313654e-02 7.45181666e-03 3.60061314e+02] [-6.76313073e-02 9.97710348e-01 -2.60067710e-04 -1.55319065e+01] [-7.45234333e-03 -2.44511087e-04 9.99972201e-01 -7.77939338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62439141799996 meters 0.02388557810758377 Centerline is valid? [True, True] Translation: X:360.12, Y:-15.54, Z:-7.78 [[ 9.97829534e-01 6.54565025e-02 7.18801629e-03 3.60119173e+02] [-6.54563938e-02 9.97855399e-01 -2.50622722e-04 -1.55371421e+01] [-7.18900575e-03 -2.20422871e-04 9.99974134e-01 -7.78219619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68439141799996 meters 0.021862621153537598 Centerline is valid? [True, True] Translation: X:360.18, Y:-15.55, Z:-7.78 [[ 9.97921969e-01 6.39421309e-02 7.94654541e-03 3.60178080e+02] [-6.39419399e-02 9.97953582e-01 -2.78349663e-04 -1.55452092e+01] [-7.94808172e-03 -2.30346285e-04 9.99968387e-01 -7.78250184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74439141799996 meters 0.025778791057368657 Centerline is valid? [True, True] Translation: X:360.24, Y:-15.55, Z:-7.79 [[ 9.97869715e-01 6.45810604e-02 9.23676875e-03 3.60235552e+02] [-6.45808744e-02 9.97912426e-01 -3.18716880e-04 -1.55472337e+01] [-9.23806939e-03 -2.78480680e-04 9.99957289e-01 -7.78720508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80439141799997 meters 0.023021996071001246 Centerline is valid? [True, True] Translation: X:360.29, Y:-15.56, Z:-7.79 [[ 9.97813346e-01 6.53453109e-02 9.92557929e-03 3.60293958e+02] [-6.53451346e-02 9.97862664e-01 -3.42411956e-04 -1.55572207e+01] [-9.92674001e-03 -3.06925096e-04 9.99950682e-01 -7.78616668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86439141799997 meters 0.023113104204883318 Centerline is valid? [True, True] Translation: X:360.35, Y:-15.56, Z:-7.79 [[ 9.97832809e-01 6.49425026e-02 1.05904308e-02 3.60352769e+02] [-6.49423146e-02 9.97888954e-01 -3.62001899e-04 -1.55626407e+01] [-1.05915833e-02 -3.26549720e-04 9.99943854e-01 -7.78728617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92439141799997 meters 0.022629312976593624 Centerline is valid? [True, True] Translation: X:360.41, Y:-15.57, Z:-7.79 [[ 9.97884915e-01 6.40857013e-02 1.08958093e-02 3.60411361e+02] [-6.40854854e-02 9.97944344e-01 -3.69319184e-04 -1.55719997e+01] [-1.08970793e-02 -3.29725185e-04 9.99940571e-01 -7.78919100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984391418 meters 0.02219998598521174 Centerline is valid? [True, True] Translation: X:360.47, Y:-15.58, Z:-7.79 [[ 9.97871930e-01 6.39749048e-02 1.26025080e-02 3.60470262e+02] [-6.39746624e-02 9.97951434e-01 -4.22781050e-04 -1.55791147e+01] [-1.26037383e-02 -3.84359852e-04 9.99920496e-01 -7.78945127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044391418 meters 0.02237847561470906 Centerline is valid? [True, True] Translation: X:360.53, Y:-15.58, Z:-7.79 [[ 9.97836728e-01 6.43456933e-02 1.34720269e-02 3.60528972e+02] [-6.43455063e-02 9.97927580e-01 -4.47777040e-04 -1.55836709e+01] [-1.34729197e-02 -4.20056012e-04 9.99909148e-01 -7.79108406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104391418 meters 0.025069303821149212 Centerline is valid? [True, True] Translation: X:360.59, Y:-15.58, Z:-7.79 [[ 9.97507200e-01 6.92218101e-02 1.37013626e-02 3.60587705e+02] [-6.92221519e-02 9.97601168e-01 -4.49863478e-04 -1.55828053e+01] [-1.36996357e-02 -4.99695742e-04 9.99906031e-01 -7.79287040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164391418 meters 0.027410624496066523 Centerline is valid? [True, True] Translation: X:360.65, Y:-15.58, Z:-7.79 [[ 9.97170831e-01 7.37432212e-02 1.45695143e-02 3.60646911e+02] [-7.37441122e-02 9.97277082e-01 -4.76804735e-04 -1.55800519e+01] [-1.45650038e-02 -5.98960120e-04 9.99893745e-01 -7.79291886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224391418 meters 0.02749898244049831 Centerline is valid? [True, True] Translation: X:360.70, Y:-15.58, Z:-7.79 [[ 9.97331827e-01 7.15099620e-02 1.46816713e-02 3.60704987e+02] [-7.15106357e-02 9.97439722e-01 -4.79756484e-04 -1.55824918e+01] [-1.46783895e-02 -5.71419235e-04 9.99892103e-01 -7.79444614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284391418 meters 0.023364573972075912 Centerline is valid? [True, True] Translation: X:360.76, Y:-15.60, Z:-7.80 [[ 9.98021837e-01 6.12220495e-02 1.42924192e-02 3.60763665e+02] [-6.12216534e-02 9.98124087e-01 -4.65646460e-04 -1.55958323e+01] [-1.42941157e-02 -4.10280201e-04 9.99897750e-01 -7.79802172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34439141799993 meters 0.01718270015018347 Centerline is valid? [True, True] Translation: X:360.82, Y:-15.62, Z:-7.80 [[ 9.98855053e-01 4.55637772e-02 1.45782372e-02 3.60822512e+02] [-4.55617043e-02 9.98961414e-01 -4.74460844e-04 -1.56158904e+01] [-1.45847146e-02 -1.90291719e-04 9.99893619e-01 -7.80054498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40439141799993 meters 0.014276077811809227 Centerline is valid? [True, True] Translation: X:360.88, Y:-15.63, Z:-7.80 [[ 9.99289075e-01 3.45173428e-02 1.51623737e-02 3.60880627e+02] [-3.45138290e-02 9.99404099e-01 -4.93430014e-04 -1.56325910e+01] [-1.51703703e-02 -3.02323503e-05 9.99884923e-01 -7.80089504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46439141799993 meters 0.016155944479187685 Centerline is valid? [True, True] Translation: X:360.94, Y:-15.65, Z:-7.80 [[ 9.99666683e-01 1.97397775e-02 1.66392462e-02 3.60938839e+02] [-1.97335203e-02 9.99805129e-01 -5.40167917e-04 -1.56537319e+01] [-1.66466665e-02 2.11636967e-04 9.99861412e-01 -7.79993098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52439141799994 meters 0.01904996156670613 Centerline is valid? [True, True] Translation: X:361.00, Y:-15.67, Z:-7.80 [[ 9.99807657e-01 1.04814248e-02 1.65767763e-02 3.60999139e+02] [-1.04739702e-02 9.99945003e-01 -5.36459062e-04 -1.56684540e+01] [-1.65814875e-02 3.62731216e-04 9.99862452e-01 -7.80067030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58439141799994 meters 0.01985230353912793 Centerline is valid? [True, True] Translation: X:361.06, Y:-15.68, Z:-7.80 [[ 9.99827766e-01 8.82114142e-03 1.63286703e-02 3.61060985e+02] [-8.81371234e-03 9.99961020e-01 -5.26879722e-04 -1.56761876e+01] [-1.63326815e-02 3.82872772e-04 9.99866540e-01 -7.80183417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64439141799994 meters 0.019299118059819185 Centerline is valid? [True, True] Translation: X:361.12, Y:-15.68, Z:-7.80 [[ 9.99815955e-01 1.01170508e-02 1.63003606e-02 3.61123612e+02] [-1.01097481e-02 9.99948755e-01 -5.30347177e-04 -1.56802875e+01] [-1.63048908e-02 3.65457030e-04 9.99867000e-01 -7.80314226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70439141799994 meters 0.01870837128936159 Centerline is valid? [True, True] Translation: X:361.19, Y:-15.68, Z:-7.80 [[ 9.99792701e-01 1.24332914e-02 1.61235605e-02 3.61186042e+02] [-1.24263757e-02 9.99922650e-01 -5.29033638e-04 -1.56832369e+01] [-1.61288910e-02 3.28566548e-04 9.99869867e-01 -7.80370439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76439141799995 meters 0.017368256309173078 Centerline is valid? [True, True] Translation: X:361.25, Y:-15.68, Z:-7.80 [[ 9.99686439e-01 1.73174796e-02 1.80867185e-02 3.61246930e+02] [-1.73094556e-02 9.99850000e-01 -6.00106154e-04 -1.56844702e+01] [-1.80943978e-02 2.86846733e-04 9.99836242e-01 -7.80358403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82439141799995 meters 0.015822056884080945 Centerline is valid? [True, True] Translation: X:361.31, Y:-15.68, Z:-7.80 [[ 9.99537613e-01 2.40000859e-02 1.86696413e-02 3.61306343e+02] [-2.39926921e-02 9.99711942e-01 -6.19952608e-04 -1.56847333e+01] [-1.86791422e-02 1.71730995e-04 9.99825515e-01 -7.80451487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88439141799995 meters 0.015030372419866224 Centerline is valid? [True, True] Translation: X:361.37, Y:-15.69, Z:-7.81 [[ 9.99411704e-01 2.89321946e-02 1.84166769e-02 3.61365659e+02] [-2.89258409e-02 9.99581373e-01 -6.11341491e-04 -1.56859125e+01] [-1.84266546e-02 7.82639758e-05 9.99830212e-01 -7.80626655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94439141799995 meters 0.014810250591255607 Centerline is valid? [True, True] Translation: X:361.42, Y:-15.69, Z:-7.81 [[ 9.99311482e-01 3.18212049e-02 1.90780834e-02 3.61424705e+02] [-3.18149333e-02 9.99493577e-01 -6.32234008e-04 -1.56887575e+01] [-1.90885403e-02 2.48307510e-05 9.99817797e-01 -7.80771055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00439141799995 meters 0.015012162604659667 Centerline is valid? [True, True] Translation: X:361.48, Y:-15.69, Z:-7.81 [[ 9.99138938e-01 3.66730042e-02 1.94029438e-02 3.61483204e+02] [-3.66674602e-02 9.99327317e-01 -6.41538256e-04 -1.56904736e+01] [-1.94134189e-02 -7.04708195e-05 9.99811539e-01 -7.80908723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06439141799996 meters 0.015637886215169653 Centerline is valid? [True, True] Translation: X:361.54, Y:-15.69, Z:-7.81 [[ 9.98994200e-01 4.08021698e-02 1.85949293e-02 3.61542248e+02] [-4.07978184e-02 9.99167234e-01 -6.13458617e-04 -1.56911185e+01] [-1.86044745e-02 -1.45790949e-04 9.99826911e-01 -7.81093509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12439141799996 meters 0.01580226108479882 Centerline is valid? [True, True] Translation: X:361.60, Y:-15.70, Z:-7.81 [[ 9.98889236e-01 4.32122883e-02 1.87880797e-02 3.61600758e+02] [-4.32082991e-02 9.99065894e-01 -6.18398763e-04 -1.56950807e+01] [-1.87972520e-02 -1.94089098e-04 9.99823297e-01 -7.81238877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18439141799996 meters 0.016585774940727563 Centerline is valid? [True, True] Translation: X:361.66, Y:-15.70, Z:-7.81 [[ 9.98776012e-01 4.55743582e-02 1.92212181e-02 3.61658757e+02] [-4.55706478e-02 9.98960919e-01 -6.31218167e-04 -1.56963122e+01] [-1.92300130e-02 -2.45477795e-04 9.99815056e-01 -7.81367554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24439141799996 meters 0.016597801946919934 Centerline is valid? [True, True] Translation: X:361.72, Y:-15.70, Z:-7.81 [[ 9.98635157e-01 4.85154065e-02 1.93410959e-02 3.61717623e+02] [-4.85122573e-02 9.98822387e-01 -6.32251933e-04 -1.56977467e+01] [-1.93489935e-02 -3.06891213e-04 9.99812744e-01 -7.81335517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30439141799997 meters 0.016995847221473973 Centerline is valid? [True, True] Translation: X:361.78, Y:-15.70, Z:-7.81 [[ 9.98488905e-01 5.15067796e-02 1.91561501e-02 3.61776765e+02] [-5.15042708e-02 9.98672579e-01 -6.24629599e-04 -1.56995809e+01] [-1.91628944e-02 -3.62937815e-04 9.99816309e-01 -7.81465099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36439141799997 meters 0.017371158790863973 Centerline is valid? [True, True] Translation: X:361.83, Y:-15.70, Z:-7.82 [[ 9.98507258e-01 5.12326036e-02 1.89334595e-02 3.61834616e+02] [-5.12301307e-02 9.98686685e-01 -6.15931585e-04 -1.57033063e+01] [-1.89401497e-02 -3.54951447e-04 9.99820556e-01 -7.81748517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42439141799997 meters 0.016526979139458782 Centerline is valid? [True, True] Translation: X:361.89, Y:-15.71, Z:-7.82 [[ 9.98675360e-01 4.81376467e-02 1.81739510e-02 3.61893641e+02] [-4.81348973e-02 9.98840670e-01 -5.88938162e-04 -1.57091873e+01] [-1.81812315e-02 -2.86643234e-04 9.99834667e-01 -7.81869390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484391418 meters 0.015339112035536322 Centerline is valid? [True, True] Translation: X:361.95, Y:-15.72, Z:-7.82 [[ 9.98933583e-01 4.24668618e-02 1.81180286e-02 3.61952207e+02] [-4.24632231e-02 9.99097859e-01 -5.85667066e-04 -1.57184963e+01] [-1.81265550e-02 -1.84307389e-04 9.99835684e-01 -7.82038697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544391418 meters 0.01441574679540059 Centerline is valid? [True, True] Translation: X:362.01, Y:-15.73, Z:-7.82 [[ 9.99189702e-01 3.60480197e-02 1.79019390e-02 3.62010125e+02] [-3.60434611e-02 9.99350057e-01 -5.77334642e-04 -1.57280120e+01] [-1.79111155e-02 -6.83810137e-05 9.99839581e-01 -7.82157391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604391418 meters 0.014109670653942141 Centerline is valid? [True, True] Translation: X:362.07, Y:-15.73, Z:-7.82 [[ 9.99283278e-01 3.27629116e-02 1.89610671e-02 3.62069296e+02] [-3.27572466e-02 9.99463152e-01 -6.09357800e-04 -1.57338825e+01] [-1.89708522e-02 -1.21912920e-05 9.99820037e-01 -7.82158616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664391418 meters 0.013878958514013651 Centerline is valid? [True, True] Translation: X:362.13, Y:-15.74, Z:-7.82 [[ 9.99358932e-01 3.01591073e-02 1.92912685e-02 3.62127431e+02] [-3.01527785e-02 9.99545110e-01 -6.18915270e-04 -1.57395700e+01] [-1.93011591e-02 3.68331566e-05 9.99813715e-01 -7.82236704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724391418 meters 0.014180629890692104 Centerline is valid? [True, True] Translation: X:362.18, Y:-15.74, Z:-7.82 [[ 9.99355469e-01 2.95434254e-02 2.03919890e-02 3.62184772e+02] [-2.95362714e-02 9.99563497e-01 -6.51985078e-04 -1.57429165e+01] [-2.04023497e-02 4.92615306e-05 9.99791849e-01 -7.82345322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784391418 meters 0.014064214683638516 Centerline is valid? [True, True] Translation: X:362.24, Y:-15.74, Z:-7.82 [[ 9.99298294e-01 3.09036266e-02 2.11632947e-02 3.62243035e+02] [-3.08962735e-02 9.99522369e-01 -6.74406684e-04 -1.57444648e+01] [-2.11740280e-02 2.00665089e-05 9.99775805e-01 -7.82424050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84439141799993 meters 0.014134260306771783 Centerline is valid? [True, True] Translation: X:362.30, Y:-15.74, Z:-7.83 [[ 9.99191685e-01 3.40912514e-02 2.13017138e-02 3.62302326e+02] [-3.40845710e-02 9.99418723e-01 -6.76703550e-04 -1.57448146e+01] [-2.13124012e-02 -4.99032148e-05 9.99772864e-01 -7.82514437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90439141799993 meters 0.014530977987353384 Centerline is valid? [True, True] Translation: X:362.36, Y:-15.75, Z:-7.83 [[ 9.99047936e-01 3.86050527e-02 2.03192436e-02 3.62361040e+02] [-3.85999389e-02 9.99254537e-01 -6.43961899e-04 -1.57457070e+01] [-2.03289566e-02 -1.40972757e-04 9.99793335e-01 -7.82716364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96439141799993 meters 0.014782004797142772 Centerline is valid? [True, True] Translation: X:362.42, Y:-15.75, Z:-7.83 [[ 9.99012370e-01 3.91977297e-02 2.09242324e-02 3.62418623e+02] [-3.91924719e-02 9.99231461e-01 -6.61457003e-04 -1.57494568e+01] [-2.09340790e-02 -1.59268664e-04 9.99780845e-01 -7.82806381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02439141799994 meters 0.014469966241960558 Centerline is valid? [True, True] Translation: X:362.48, Y:-15.75, Z:-7.83 [[ 9.98995182e-01 3.92703010e-02 2.15979141e-02 3.62476031e+02] [-3.92647624e-02 9.99228610e-01 -6.80610179e-04 -1.57539597e+01] [-2.16079814e-02 -1.68110676e-04 9.99766506e-01 -7.82810572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08439141799994 meters 0.014398225779973451 Centerline is valid? [True, True] Translation: X:362.53, Y:-15.76, Z:-7.83 [[ 9.98975807e-01 3.94157213e-02 2.22202102e-02 3.62534005e+02] [-3.94099572e-02 9.99222882e-01 -6.97418584e-04 -1.57605004e+01] [-2.22304318e-02 -1.78993243e-04 9.99752857e-01 -7.82921644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14439141799994 meters 0.015965362071792097 Centerline is valid? [True, True] Translation: X:362.59, Y:-15.76, Z:-7.83 [[ 9.98748742e-01 4.47535836e-02 2.23174023e-02 3.62591422e+02] [-4.47491615e-02 9.98998011e-01 -6.97763954e-04 -1.57613637e+01] [-2.23262679e-02 -3.01794167e-04 9.99750692e-01 -7.83011250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20439141799994 meters 0.017164298532207727 Centerline is valid? [True, True] Translation: X:362.65, Y:-15.76, Z:-7.83 [[ 9.98533682e-01 4.90976932e-02 2.28013858e-02 3.62650557e+02] [-4.90942613e-02 9.98793897e-01 -7.10607851e-04 -1.57615465e+01] [-2.28087742e-02 -4.09851319e-04 9.99739762e-01 -7.83048992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26439141799995 meters 0.019617035324608435 Centerline is valid? [True, True] Translation: X:362.71, Y:-15.76, Z:-7.83 [[ 9.98259500e-01 5.45567937e-02 2.23947922e-02 3.62709949e+02] [-5.45548937e-02 9.98510530e-01 -6.96237792e-04 -1.57613043e+01] [-2.23994203e-02 -5.26719518e-04 9.99748963e-01 -7.83259717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32439141799995 meters 0.019390447466493706 Centerline is valid? [True, True] Translation: X:362.77, Y:-15.77, Z:-7.84 [[ 9.98130788e-01 5.71110837e-02 2.17544228e-02 3.62768354e+02] [-5.71099142e-02 9.98367668e-01 -6.75532363e-04 -1.57686496e+01] [-2.17574927e-02 -5.68123568e-04 9.99763116e-01 -7.83593136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38439141799995 meters 0.019149857972195792 Centerline is valid? [True, True] Translation: X:362.83, Y:-15.77, Z:-7.84 [[ 9.98094911e-01 5.76655771e-02 2.19369605e-02 3.62826947e+02] [-5.76645611e-02 9.98335784e-01 -6.79407803e-04 -1.57739461e+01] [-2.19396311e-02 -5.86871729e-04 9.99759125e-01 -7.83725896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44439141799995 meters 0.01912120140705364 Centerline is valid? [True, True] Translation: X:362.89, Y:-15.78, Z:-7.84 [[ 9.98113669e-01 5.70828461e-02 2.25976019e-02 3.62885451e+02] [-5.70816622e-02 9.98369269e-01 -6.97948653e-04 -1.57782195e+01] [-2.26005922e-02 -5.93276588e-04 9.99744398e-01 -7.83824397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50439141799995 meters 0.019722227906047097 Centerline is valid? [True, True] Translation: X:362.94, Y:-15.78, Z:-7.84 [[ 9.98207827e-01 5.50605491e-02 2.34407920e-02 3.62943387e+02] [-5.50587669e-02 9.98482855e-01 -7.21913864e-04 -1.57829858e+01] [-2.34449779e-02 -5.70001031e-04 9.99724966e-01 -7.83981164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56439141799996 meters 0.01861250065041332 Centerline is valid? [True, True] Translation: X:363.00, Y:-15.79, Z:-7.84 [[ 9.98263367e-01 5.41222145e-02 2.32601950e-02 3.63002307e+02] [-5.41202799e-02 9.98534169e-01 -7.13137952e-04 -1.57877482e+01] [-2.32646961e-02 -5.46948773e-04 9.99729191e-01 -7.84158478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62439141799996 meters 0.017902240463490784 Centerline is valid? [True, True] Translation: X:363.06, Y:-15.79, Z:-7.84 [[ 9.98500517e-01 4.97753857e-02 2.27843996e-02 3.63059643e+02] [-4.97724404e-02 9.98760341e-01 -6.96690345e-04 -1.57916615e+01] [-2.27908328e-02 -4.38389504e-04 9.99740159e-01 -7.84334537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68439141799996 meters 0.016289389684212743 Centerline is valid? [True, True] Translation: X:363.12, Y:-15.80, Z:-7.84 [[ 9.98736679e-01 4.41284686e-02 2.40358905e-02 3.63118436e+02] [-4.41236288e-02 9.99025810e-01 -7.31930351e-04 -1.57993766e+01] [-2.40447740e-02 -3.29545022e-04 9.99710828e-01 -7.84474433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74439141799996 meters 0.014363035688239717 Centerline is valid? [True, True] Translation: X:363.18, Y:-15.81, Z:-7.84 [[ 9.99032475e-01 3.58183505e-02 2.55178385e-02 3.63176918e+02] [-3.58102378e-02 9.99358307e-01 -7.74970426e-04 -1.58070869e+01] [-2.55292220e-02 -1.39579241e-04 9.99674067e-01 -7.84494454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80439141799997 meters 0.014316578358150093 Centerline is valid? [True, True] Translation: X:363.24, Y:-15.81, Z:-7.85 [[ 9.99276887e-01 2.86967451e-02 2.49439378e-02 3.63235373e+02] [-2.86868240e-02 9.99588163e-01 -7.55551870e-04 -1.58125395e+01] [-2.49553469e-02 3.94431647e-05 9.99688566e-01 -7.84630155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86439141799997 meters 0.01605767002827123 Centerline is valid? [True, True] Translation: X:363.30, Y:-15.82, Z:-7.85 [[ 9.99552799e-01 1.69062675e-02 2.46653719e-02 3.63295822e+02] [-1.68930103e-02 9.99857025e-01 -7.45765097e-04 -1.58236158e+01] [-2.46744534e-02 3.28759208e-04 9.99695485e-01 -7.85033924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92439141799997 meters 0.0186327699684854 Centerline is valid? [True, True] Translation: X:363.36, Y:-15.83, Z:-7.85 [[ 9.99644481e-01 9.12236014e-03 2.50538442e-02 3.63357143e+02] [-9.10623516e-03 9.99958250e-01 -7.57630863e-04 -1.58314516e+01] [-2.50597096e-02 5.29215313e-04 9.99685816e-01 -7.85156161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984391418 meters 0.023618439270574366 Centerline is valid? [True, True] Translation: X:363.42, Y:-15.84, Z:-7.85 [[ 9.99681308e-01 -1.56328893e-03 2.51960198e-02 3.63417393e+02] [ 1.58301120e-03 9.99998456e-01 -7.62826239e-04 -1.58407910e+01] [-2.51947883e-02 8.02468714e-04 9.99682239e-01 -7.85249189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044391418 meters 0.02576516056594568 Centerline is valid? [True, True] Translation: X:363.48, Y:-15.85, Z:-7.86 [[ 9.99685812e-01 -5.24390786e-03 2.45108006e-02 3.63479568e+02] [ 5.26368334e-03 9.99985871e-01 -7.42357698e-04 -1.58460348e+01] [-2.45065615e-02 8.71141551e-04 9.99699290e-01 -7.85547808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104391418 meters 0.02556942701901501 Centerline is valid? [True, True] Translation: X:363.54, Y:-15.85, Z:-7.86 [[ 9.99658022e-01 -8.04100192e-03 2.48833382e-02 3.63542081e+02] [ 8.06229792e-03 9.99967214e-01 -7.55626653e-04 -1.58464470e+01] [-2.48764463e-02 9.55985131e-04 9.99690076e-01 -7.85686782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164391418 meters 0.025429437441261804 Centerline is valid? [True, True] Translation: X:363.60, Y:-15.84, Z:-7.86 [[ 9.99621217e-01 -9.68215373e-03 2.57619612e-02 3.63604238e+02] [ 9.70558120e-03 9.99952592e-01 -7.84496471e-04 -1.58444159e+01] [-2.57531443e-02 1.03423412e-03 9.99667798e-01 -7.85590695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224391418 meters 0.026067756334740896 Centerline is valid? [True, True] Translation: X:363.67, Y:-15.85, Z:-7.86 [[ 9.99647526e-01 -8.10993735e-03 2.52795106e-02 3.63665159e+02] [ 8.13205329e-03 9.99966636e-01 -7.72173941e-04 -1.58461845e+01] [-2.52724049e-02 9.77476096e-04 9.99680124e-01 -7.85905422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2843914179999 meters 0.025954569078205085 Centerline is valid? [True, True] Translation: X:363.73, Y:-15.85, Z:-7.86 [[ 9.99669913e-01 -7.44993049e-03 2.45878935e-02 3.63727328e+02] [ 7.47074612e-03 9.99971809e-01 -7.54829011e-04 -1.58459050e+01] [-2.45815769e-02 9.38269761e-04 9.99697387e-01 -7.86125795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34439141799993 meters 0.0258599791588125 Centerline is valid? [True, True] Translation: X:363.79, Y:-15.84, Z:-7.86 [[ 9.99628007e-01 -7.64207286e-03 2.61810222e-02 3.63789275e+02] [ 7.66579887e-03 9.99970293e-01 -8.05981546e-04 -1.58443589e+01] [-2.61740850e-02 1.00638018e-03 9.99656893e-01 -7.86164767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40439141799993 meters 0.027239772315194855 Centerline is valid? [True, True] Translation: X:363.85, Y:-15.85, Z:-7.86 [[ 9.99594261e-01 -9.84715945e-03 2.67272776e-02 3.63851077e+02] [ 9.87273240e-03 9.99950923e-01 -8.25017278e-04 -1.58473785e+01] [-2.67178418e-02 1.08855380e-03 9.99642422e-01 -7.86310273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46439141799993 meters 0.027968652264993486 Centerline is valid? [True, True] Translation: X:363.91, Y:-15.85, Z:-7.87 [[ 9.99562818e-01 -1.25012803e-02 2.67934970e-02 3.63912815e+02] [ 1.25280140e-02 9.99921177e-01 -8.30129382e-04 -1.58498240e+01] [-2.67810074e-02 1.16543577e-03 9.99640645e-01 -7.86521394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52439141799994 meters 0.030855999534660495 Centerline is valid? [True, True] Translation: X:363.97, Y:-15.86, Z:-7.87 [[ 9.99485145e-01 -1.79991444e-02 2.65607769e-02 3.63973940e+02] [ 1.80275098e-02 9.99837148e-01 -8.28856520e-04 -1.58551137e+01] [-2.65415327e-02 1.30725444e-03 9.99646857e-01 -7.86704005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58439141799994 meters 0.03493521269169081 Centerline is valid? [True, True] Translation: X:364.03, Y:-15.86, Z:-7.87 [[ 9.99358937e-01 -2.42224723e-02 2.63626053e-02 3.64033853e+02] [ 2.42525867e-02 9.99705524e-01 -8.23131370e-04 -1.58644477e+01] [-2.63349039e-02 1.46196506e-03 9.99652107e-01 -7.86924659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64439141799994 meters 0.03545545428692274 Centerline is valid? [True, True] Translation: X:364.10, Y:-15.87, Z:-7.87 [[ 9.99293858e-01 -2.77962298e-02 2.52815186e-02 3.64095028e+02] [ 2.78250691e-02 9.99612496e-01 -7.89586929e-04 -1.58668180e+01] [-2.52497744e-02 1.49248937e-03 9.99680060e-01 -7.87111325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70439141799994 meters 0.03839102105097052 Centerline is valid? [True, True] Translation: X:364.16, Y:-15.87, Z:-7.87 [[ 9.99282948e-01 -2.82823851e-02 2.51733415e-02 3.64155725e+02] [ 2.83111755e-02 9.99598848e-01 -7.87952476e-04 -1.58722001e+01] [-2.51409580e-02 1.50007436e-03 9.99682791e-01 -7.87233785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76439141799995 meters 0.045037349809908575 Centerline is valid? [True, True] Translation: X:364.22, Y:-15.88, Z:-7.87 [[ 9.99286833e-01 -2.83427039e-02 2.49502645e-02 3.64216130e+02] [ 2.83711653e-02 9.99597147e-01 -7.87404988e-04 -1.58831302e+01] [-2.49178960e-02 1.49471152e-03 9.99688384e-01 -7.87403340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82439141799995 meters 0.04239721886138013 Centerline is valid? [True, True] Translation: X:364.28, Y:-15.88, Z:-7.88 [[ 9.99282991e-01 -2.81600835e-02 2.53083894e-02 3.64278522e+02] [ 2.81894395e-02 9.99602276e-01 -8.03838958e-04 -1.58812635e+01] [-2.52756874e-02 1.51669191e-03 9.99679368e-01 -7.87562604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88439141799995 meters 0.03571856904555142 Centerline is valid? [True, True] Translation: X:364.34, Y:-15.87, Z:-7.88 [[ 9.99313469e-01 -2.68252161e-02 2.55538269e-02 3.64340787e+02] [ 2.68547606e-02 9.99639015e-01 -8.13629642e-04 -1.58744252e+01] [-2.55227765e-02 1.49931296e-03 9.99673117e-01 -7.87785814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94439141799995 meters 0.035931099408157856 Centerline is valid? [True, True] Translation: X:364.40, Y:-15.88, Z:-7.88 [[ 9.99351341e-01 -2.55224688e-02 2.54066907e-02 3.64403412e+02] [ 2.55513093e-02 9.99673183e-01 -8.11109566e-04 -1.58762015e+01] [-2.53776858e-02 1.45975765e-03 9.99676869e-01 -7.88050840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00439141799995 meters 0.03627402690147681 Centerline is valid? [True, True] Translation: X:364.46, Y:-15.88, Z:-7.88 [[ 9.99390109e-01 -2.37245276e-02 2.56233692e-02 3.64463810e+02] [ 2.37533334e-02 9.99717513e-01 -8.20374946e-04 -1.58794678e+01] [-2.55966680e-02 1.42851504e-03 9.99671331e-01 -7.88233365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06439141799996 meters 0.03626762108788982 Centerline is valid? [True, True] Translation: X:364.53, Y:-15.88, Z:-7.88 [[ 9.99418366e-01 -2.21456683e-02 2.59325978e-02 3.64525918e+02] [ 2.21746637e-02 9.99753767e-01 -8.31032687e-04 -1.58818789e+01] [-2.59078086e-02 1.40559597e-03 9.99663348e-01 -7.88362026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12439141799996 meters 0.03531453588913972 Centerline is valid? [True, True] Translation: X:364.59, Y:-15.88, Z:-7.89 [[ 9.99419206e-01 -2.17219487e-02 2.62565852e-02 3.64588382e+02] [ 2.17515832e-02 9.99763050e-01 -8.43531365e-04 -1.58841920e+01] [-2.62320406e-02 1.41416374e-03 9.99654881e-01 -7.88560651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18439141799996 meters 0.03378396692328362 Centerline is valid? [True, True] Translation: X:364.65, Y:-15.89, Z:-7.89 [[ 9.99377001e-01 -2.28271108e-02 2.69171438e-02 3.64650030e+02] [ 2.28587398e-02 9.99738328e-01 -8.67892485e-04 -1.58874112e+01] [-2.68902889e-02 1.48264377e-03 9.99637291e-01 -7.88763950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24439141799996 meters 0.03494422271687086 Centerline is valid? [True, True] Translation: X:364.71, Y:-15.89, Z:-7.89 [[ 9.99382981e-01 -2.27066366e-02 2.67967540e-02 3.64713307e+02] [ 2.27381405e-02 9.99741075e-01 -8.71498590e-04 -1.58933550e+01] [-2.67700268e-02 1.48026921e-03 9.99640523e-01 -7.88983264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30439141799997 meters 0.03917360453830151 Centerline is valid? [True, True] Translation: X:364.77, Y:-15.90, Z:-7.89 [[ 9.99434238e-01 -2.13747651e-02 2.59677387e-02 3.64774540e+02] [ 2.14040908e-02 9.99770543e-01 -8.51852789e-04 -1.59034611e+01] [-2.59435721e-02 1.40718668e-03 9.99662418e-01 -7.89170799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36439141799997 meters 0.04206439355798926 Centerline is valid? [True, True] Translation: X:364.84, Y:-15.91, Z:-7.89 [[ 9.99442332e-01 -2.01196283e-02 2.66500588e-02 3.64836052e+02] [ 2.01501288e-02 9.99796581e-01 -8.76402192e-04 -1.59117674e+01] [-2.66270048e-02 1.41291557e-03 9.99644440e-01 -7.89252852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42439141799997 meters 0.034076204237671506 Centerline is valid? [True, True] Translation: X:364.90, Y:-15.91, Z:-7.89 [[ 9.99461323e-01 -1.85528296e-02 2.70713135e-02 3.64898072e+02] [ 1.85837855e-02 9.99826908e-01 -8.92334273e-04 -1.59057281e+01] [-2.70500723e-02 1.39494108e-03 9.99633107e-01 -7.89447295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484391418 meters 0.034235213497633976 Centerline is valid? [True, True] Translation: X:364.96, Y:-15.91, Z:-7.90 [[ 9.99535786e-01 -1.64508816e-02 2.56433231e-02 3.64959079e+02] [ 1.64780136e-02 9.99863869e-01 -8.47088237e-04 -1.59086541e+01] [-2.56258970e-02 1.26924603e-03 9.99670797e-01 -7.89791859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544391418 meters 0.030778739043572412 Centerline is valid? [True, True] Translation: X:365.02, Y:-15.91, Z:-7.90 [[ 9.99577232e-01 -1.45975383e-02 2.51449499e-02 3.65021502e+02] [ 1.46230691e-02 9.99892731e-01 -8.31754489e-04 -1.59095335e+01] [-2.51301111e-02 1.19909919e-03 9.99683470e-01 -7.89970995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604391418 meters 0.030378000993713274 Centerline is valid? [True, True] Translation: X:365.08, Y:-15.91, Z:-7.90 [[ 9.99638979e-01 -1.08482449e-02 2.45810176e-02 3.65082362e+02] [ 1.08715578e-02 9.99940571e-01 -8.14970848e-04 -1.59130465e+01] [-2.45707158e-02 1.08191058e-03 9.99697509e-01 -7.90171563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664391418 meters 0.026918994626069826 Centerline is valid? [True, True] Translation: X:365.14, Y:-15.91, Z:-7.90 [[ 9.99656946e-01 -7.53870251e-03 2.50830142e-02 3.65144146e+02] [ 7.56196542e-03 9.99971061e-01 -8.32711665e-04 -1.59111630e+01] [-2.50760107e-02 1.02210289e-03 9.99685025e-01 -7.90301299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724391418 meters 0.02647502452863519 Centerline is valid? [True, True] Translation: X:365.20, Y:-15.91, Z:-7.90 [[ 9.99674187e-01 -3.14361316e-03 2.53305826e-02 3.65204559e+02] [ 3.16597416e-03 9.99994633e-01 -8.42710919e-04 -1.59138119e+01] [-2.53277975e-02 9.22632322e-04 9.99678774e-01 -7.90392761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7843914179999 meters 0.024369861405646377 Centerline is valid? [True, True] Translation: X:365.27, Y:-15.92, Z:-7.91 [[ 9.99707022e-01 3.44576667e-04 2.42022978e-02 3.65265920e+02] [-3.25120754e-04 9.99999621e-01 -8.07817340e-04 -1.59159708e+01] [-2.42025670e-02 7.99711998e-04 9.99706755e-01 -7.90746096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84439141799993 meters 0.023208759139570094 Centerline is valid? [True, True] Translation: X:365.33, Y:-15.92, Z:-7.91 [[ 9.99720064e-01 4.70267322e-03 2.31878756e-02 3.65325968e+02] [-4.68596268e-03 9.99988721e-01 -7.74942350e-04 -1.59185750e+01] [-2.31912584e-02 6.66067896e-04 9.99730825e-01 -7.91013236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90439141799993 meters 0.021099314063603276 Centerline is valid? [True, True] Translation: X:365.39, Y:-15.92, Z:-7.91 [[ 9.99699093e-01 7.14878680e-03 2.34652563e-02 3.65387978e+02] [-7.13228282e-03 9.99974255e-01 -7.86954734e-04 -1.59182271e+01] [-2.34702780e-02 6.19357089e-04 9.99724343e-01 -7.91125126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96439141799993 meters 0.02225491700436673 Centerline is valid? [True, True] Translation: X:365.45, Y:-15.93, Z:-7.91 [[ 9.99685249e-01 8.09554972e-03 2.37458262e-02 3.65448853e+02] [-8.07886176e-03 9.99967047e-01 -7.98624854e-04 -1.59250430e+01] [-2.37515090e-02 6.06534239e-04 9.99717709e-01 -7.91234446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02439141799994 meters 0.02121916726235155 Centerline is valid? [True, True] Translation: X:365.51, Y:-15.93, Z:-7.91 [[ 9.99677250e-01 8.00541439e-03 2.41103635e-02 3.65511467e+02] [-7.98802787e-03 9.99967761e-01 -8.17348689e-04 -1.59296696e+01] [-2.41161294e-02 6.24490634e-04 9.99708969e-01 -7.91412321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08439141799994 meters 0.02079699432628846 Centerline is valid? [True, True] Translation: X:365.57, Y:-15.94, Z:-7.92 [[ 9.99663330e-01 8.16373372e-03 2.46288671e-02 3.65574787e+02] [-8.14544057e-03 9.99966470e-01 -8.42984520e-04 -1.59363842e+01] [-2.46349232e-02 6.42087738e-04 9.99696308e-01 -7.91616442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14439141799994 meters 0.020776387694448378 Centerline is valid? [True, True] Translation: X:365.64, Y:-15.94, Z:-7.92 [[ 9.99672627e-01 9.23116076e-03 2.38626102e-02 3.65637232e+02] [-9.21412102e-03 9.99957210e-01 -8.23932871e-04 -1.59427145e+01] [-2.38691949e-02 6.03790160e-04 9.99714908e-01 -7.91862584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20439141799994 meters 0.0199598503821924 Centerline is valid? [True, True] Translation: X:365.70, Y:-15.95, Z:-7.92 [[ 9.99629401e-01 1.15622774e-02 2.46449618e-02 3.65699466e+02] [-1.15447351e-02 9.99932993e-01 -8.53968145e-04 -1.59469989e+01] [-2.46531842e-02 5.69132110e-04 9.99695902e-01 -7.92041989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26439141799995 meters 0.017969048867120016 Centerline is valid? [True, True] Translation: X:365.76, Y:-15.95, Z:-7.92 [[ 9.99516454e-01 1.66604931e-02 2.62542549e-02 3.65760547e+02] [-1.66421643e-02 9.99861090e-01 -9.16488641e-04 -1.59489281e+01] [-2.62658770e-02 4.79117852e-04 9.99654878e-01 -7.92047723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32439141799995 meters 0.016305346102624636 Centerline is valid? [True, True] Translation: X:365.82, Y:-15.95, Z:-7.92 [[ 9.99376043e-01 2.34920489e-02 2.63751324e-02 3.65822201e+02] [-2.34758736e-02 9.99723978e-01 -9.22796138e-04 -1.59496233e+01] [-2.63895307e-02 3.03041077e-04 9.99651690e-01 -7.92277770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38439141799995 meters 0.015326103997032702 Centerline is valid? [True, True] Translation: X:365.88, Y:-15.95, Z:-7.92 [[ 9.99218958e-01 2.96213454e-02 2.61543626e-02 3.65883563e+02] [-2.96073547e-02 9.99561181e-01 -9.22100360e-04 -1.59502187e+01] [-2.61701994e-02 1.47018671e-04 9.99657491e-01 -7.92475161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44439141799995 meters 0.014609510372336473 Centerline is valid? [True, True] Translation: X:365.94, Y:-15.95, Z:-7.93 [[ 9.98882951e-01 3.89326407e-02 2.67787257e-02 3.65944804e+02] [-3.89211611e-02 9.99241833e-01 -9.49969462e-04 -1.59463636e+01] [-2.67954078e-02 -9.33507990e-05 9.99640934e-01 -7.92732395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50439141799995 meters 0.01611753954745858 Centerline is valid? [True, True] Translation: X:366.00, Y:-15.94, Z:-7.93 [[ 9.98468349e-01 4.83293433e-02 2.69300885e-02 3.66004398e+02] [-4.83211306e-02 9.98831394e-01 -9.56025144e-04 -1.59418042e+01] [-2.69448219e-02 -3.46731476e-04 9.99636862e-01 -7.92859514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56439141799996 meters 0.01730129702058422 Centerline is valid? [True, True] Translation: X:366.06, Y:-15.94, Z:-7.93 [[ 9.98130604e-01 5.46513742e-02 2.73591642e-02 3.66063658e+02] [-5.46453036e-02 9.98505358e-01 -9.70062424e-04 -1.59412915e+01] [-2.73712873e-02 -5.26800839e-04 9.99625197e-01 -7.93067299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62439141799996 meters 0.023430151492013083 Centerline is valid? [True, True] Translation: X:366.12, Y:-15.93, Z:-7.93 [[ 9.97713123e-01 6.16235765e-02 2.77679610e-02 3.66122717e+02] [-6.16200719e-02 9.98099194e-01 -9.82704282e-04 -1.59333152e+01] [-2.77757373e-02 -7.30606796e-04 9.99613913e-01 -7.93123131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68439141799996 meters 0.027025394017738603 Centerline is valid? [True, True] Translation: X:366.18, Y:-15.93, Z:-7.93 [[ 9.97242162e-01 6.87953527e-02 2.78436591e-02 3.66183214e+02] [-6.87946738e-02 9.97630355e-01 -9.83451907e-04 -1.59313642e+01] [-2.78453364e-02 -9.34755737e-04 9.99611806e-01 -7.93404381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74439141799996 meters 0.03027195008231055 Centerline is valid? [True, True] Translation: X:366.24, Y:-15.93, Z:-7.94 [[ 9.96871063e-01 7.37871273e-02 2.83468463e-02 3.66242516e+02] [-7.37884547e-02 9.97273414e-01 -1.00064502e-03 -1.59296815e+01] [-2.83433909e-02 -1.09415592e-03 9.99597647e-01 -7.93607329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80439141799997 meters 0.03447024218304772 Centerline is valid? [True, True] Translation: X:366.30, Y:-15.93, Z:-7.94 [[ 9.96480729e-01 7.83699950e-02 2.97372064e-02 3.66302390e+02] [-7.83735605e-02 9.96923512e-01 -1.04744098e-03 -1.59263874e+01] [-2.97278081e-02 -1.28685599e-03 9.99557203e-01 -7.93674865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86439141799997 meters 0.03669261809316968 Centerline is valid? [True, True] Translation: X:366.36, Y:-15.93, Z:-7.94 [[ 9.96273729e-01 8.07294853e-02 3.03546968e-02 3.66361637e+02] [-8.07343231e-02 9.96735084e-01 -1.06821060e-03 -1.59256197e+01] [-3.03418273e-02 -1.38643574e-03 9.99538619e-01 -7.93821393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92439141799997 meters 0.03854331765760853 Centerline is valid? [True, True] Translation: X:366.42, Y:-15.93, Z:-7.94 [[ 9.96198085e-01 8.14587057e-02 3.08845513e-02 3.66419095e+02] [-8.14641339e-02 9.96675684e-01 -1.08458888e-03 -1.59262816e+01] [-3.08702305e-02 -1.43551785e-03 9.99522370e-01 -7.94018254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984391418 meters 0.034705456853451874 Centerline is valid? [True, True] Translation: X:366.48, Y:-15.93, Z:-7.94 [[ 9.96320098e-01 8.00036278e-02 3.07519531e-02 3.66477480e+02] [-8.00084083e-02 9.96793607e-01 -1.07699125e-03 -1.59336086e+01] [-3.07395134e-02 -1.38738679e-03 9.99526467e-01 -7.94327502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044391418 meters 0.033966032974533114 Centerline is valid? [True, True] Translation: X:366.54, Y:-15.94, Z:-7.95 [[ 9.96498148e-01 7.80819948e-02 2.99105896e-02 3.66536759e+02] [-7.80857216e-02 9.96946101e-01 -1.04522386e-03 -1.59363235e+01] [-2.99008588e-02 -1.29402633e-03 9.99552032e-01 -7.94611472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104391418 meters 0.03167021762381198 Centerline is valid? [True, True] Translation: X:366.60, Y:-15.94, Z:-7.95 [[ 9.96676465e-01 7.51834218e-02 3.13604301e-02 3.66595050e+02] [-7.51861574e-02 9.97168915e-01 -1.09365743e-03 -1.59410357e+01] [-3.13538709e-02 -1.26784761e-03 9.99507542e-01 -7.94824452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164391418 meters 0.02966753714359134 Centerline is valid? [True, True] Translation: X:366.65, Y:-15.94, Z:-7.95 [[ 9.96824894e-01 7.25680612e-02 3.27720538e-02 3.66653995e+02] [-7.25697321e-02 9.97362689e-01 -1.14003311e-03 -1.59439655e+01] [-3.27683537e-02 -1.24184578e-03 9.99462202e-01 -7.94948965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224391418 meters 0.02646256683619562 Centerline is valid? [True, True] Translation: X:366.71, Y:-15.95, Z:-7.95 [[ 9.97045342e-01 6.96770158e-02 3.23372916e-02 3.66712808e+02] [-6.96772132e-02 9.97568958e-01 -1.12214850e-03 -1.59486357e+01] [-3.23368663e-02 -1.13433943e-03 9.99476383e-01 -7.95411629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2843914179999 meters 0.026673965731195137 Centerline is valid? [True, True] Translation: X:366.77, Y:-15.95, Z:-7.96 [[ 9.97122328e-01 6.87375814e-02 3.19719852e-02 3.66771849e+02] [-6.87373819e-02 9.97634175e-01 -1.10665785e-03 -1.59506423e+01] [-3.19724141e-02 -1.09419730e-03 9.99488153e-01 -7.95692153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34439141799993 meters 0.025112983188383366 Centerline is valid? [True, True] Translation: X:366.83, Y:-15.95, Z:-7.96 [[ 9.97129018e-01 6.82356901e-02 3.28269912e-02 3.66830536e+02] [-6.82353073e-02 9.97668612e-01 -1.13325206e-03 -1.59489453e+01] [-3.28277870e-02 -1.10996132e-03 9.99460407e-01 -7.95801659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40439141799993 meters 0.0268078506579937 Centerline is valid? [True, True] Translation: X:366.89, Y:-15.94, Z:-7.96 [[ 9.96972645e-01 7.03837862e-02 3.30403871e-02 3.66889644e+02] [-7.03846754e-02 9.97519275e-01 -1.13761656e-03 -1.59449916e+01] [-3.30384928e-02 -1.19136433e-03 9.99453370e-01 -7.95879949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46439141799993 meters 0.025780973283478198 Centerline is valid? [True, True] Translation: X:366.95, Y:-15.94, Z:-7.96 [[ 9.96623406e-01 7.47381143e-02 3.40000131e-02 3.66948349e+02] [-7.47416812e-02 9.97202245e-01 -1.16783590e-03 -1.59425702e+01] [-3.39921712e-02 -1.37732555e-03 9.99421150e-01 -7.96167521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52439141799994 meters 0.02860299930275291 Centerline is valid? [True, True] Translation: X:367.01, Y:-15.93, Z:-7.96 [[ 9.96289605e-01 7.89413691e-02 3.42824094e-02 3.67007829e+02] [-7.89475319e-02 9.96878079e-01 -1.17596828e-03 -1.59331786e+01] [-3.42682150e-02 -1.53490663e-03 9.99411494e-01 -7.96301093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58439141799994 meters 0.027044425471439076 Centerline is valid? [True, True] Translation: X:367.07, Y:-15.93, Z:-7.97 [[ 9.96080731e-01 8.16777967e-02 3.39398809e-02 3.67067094e+02] [-8.16854517e-02 9.96657481e-01 -1.16331390e-03 -1.59314251e+01] [-3.39214531e-02 -1.61363993e-03 9.99423199e-01 -7.96670620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64439141799994 meters 0.027431838865174467 Centerline is valid? [True, True] Translation: X:367.13, Y:-15.93, Z:-7.97 [[ 9.96075849e-01 8.17635899e-02 3.38765138e-02 3.67125546e+02] [-8.17713434e-02 9.96650442e-01 -1.15884787e-03 -1.59292232e+01] [-3.38577940e-02 -1.61582766e-03 9.99425354e-01 -7.96872743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70439141799994 meters 0.02647268915324603 Centerline is valid? [True, True] Translation: X:367.18, Y:-15.93, Z:-7.97 [[ 9.96251948e-01 7.92587019e-02 3.46426550e-02 3.67184973e+02] [-7.92653893e-02 9.96852848e-01 -1.18247835e-03 -1.59277194e+01] [-3.46273510e-02 -1.56791717e-03 9.99399064e-01 -7.97027977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76439141799995 meters 0.02532459696007698 Centerline is valid? [True, True] Translation: X:367.25, Y:-15.93, Z:-7.97 [[ 9.96615840e-01 7.47696732e-02 3.41520680e-02 3.67245301e+02] [-7.47735941e-02 9.97199857e-01 -1.16417788e-03 -1.59289191e+01] [-3.41434825e-02 -1.39343475e-03 9.99415970e-01 -7.97319016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82439141799995 meters 0.024407276203832724 Centerline is valid? [True, True] Translation: X:367.31, Y:-15.93, Z:-7.97 [[ 9.96880819e-01 7.13530373e-02 3.37250173e-02 3.67305348e+02] [-7.13549308e-02 9.97450326e-01 -1.14895482e-03 -1.59301097e+01] [-3.37210110e-02 -1.26107525e-03 9.99430489e-01 -7.97478875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88439141799995 meters 0.023032485733462393 Centerline is valid? [True, True] Translation: X:367.36, Y:-15.93, Z:-7.98 [[ 9.97091164e-01 6.79289442e-02 3.45668720e-02 3.67364524e+02] [-6.79289206e-02 9.97689470e-01 -1.17643921e-03 -1.59322243e+01] [-3.45669184e-02 -1.17507316e-03 9.99401695e-01 -7.97666082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94439141799995 meters 0.020817649920731547 Centerline is valid? [True, True] Translation: X:367.42, Y:-15.94, Z:-7.98 [[ 9.97435912e-01 6.25017434e-02 3.48587631e-02 3.67424175e+02] [-6.24984726e-02 9.98044357e-01 -1.18452970e-03 -1.59356473e+01] [-3.48646269e-02 -9.97126986e-04 9.99391547e-01 -7.97855672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00439141799995 meters 0.021005165475392953 Centerline is valid? [True, True] Translation: X:367.48, Y:-15.94, Z:-7.98 [[ 9.97677156e-01 5.87068361e-02 3.45514219e-02 3.67482262e+02] [-5.87014217e-02 9.98274897e-01 -1.17197178e-03 -1.59351014e+01] [-3.45606199e-02 -8.58968111e-04 9.99402234e-01 -7.97916870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06439141799996 meters 0.017802147967897666 Centerline is valid? [True, True] Translation: X:367.54, Y:-15.94, Z:-7.98 [[ 9.97982753e-01 5.40374581e-02 3.33223366e-02 3.67540837e+02] [-5.40299209e-02 9.98538681e-01 -1.12726018e-03 -1.59394031e+01] [-3.33345563e-02 -6.75416996e-04 9.99444021e-01 -7.98365876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12439141799996 meters 0.017610334384474985 Centerline is valid? [True, True] Translation: X:367.60, Y:-15.94, Z:-7.99 [[ 9.98119612e-01 5.09793865e-02 3.40344216e-02 3.67598879e+02] [-5.09698508e-02 9.98699532e-01 -1.14830087e-03 -1.59375093e+01] [-3.40487006e-02 -5.88587776e-04 9.99420002e-01 -7.98512201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18439141799996 meters 0.017451103193155727 Centerline is valid? [True, True] Translation: X:367.66, Y:-15.94, Z:-7.99 [[ 9.98159295e-01 4.98101546e-02 3.45972575e-02 3.67657789e+02] [-4.97997110e-02 9.98758546e-01 -1.16405656e-03 -1.59368100e+01] [-3.46122884e-02 -5.61019554e-04 9.99400658e-01 -7.98630260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24439141799996 meters 0.01654037111298142 Centerline is valid? [True, True] Translation: X:367.72, Y:-15.94, Z:-7.99 [[ 9.98299146e-01 4.63356124e-02 3.53811594e-02 3.67716554e+02] [-4.63226085e-02 9.98925826e-01 -1.18761970e-03 -1.59355232e+01] [-3.53981830e-02 -4.53347865e-04 9.99373185e-01 -7.98719162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30439141799997 meters 0.01565093646821899 Centerline is valid? [True, True] Translation: X:367.78, Y:-15.94, Z:-7.99 [[ 9.98536628e-01 4.06982202e-02 3.56125880e-02 3.67776514e+02] [-4.06815421e-02 9.99171451e-01 -1.19311516e-03 -1.59374607e+01] [-3.56316389e-02 -2.57405811e-04 9.99364958e-01 -7.98905530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36439141799997 meters 0.015070355780174243 Centerline is valid? [True, True] Translation: X:367.84, Y:-15.94, Z:-7.99 [[ 9.98789529e-01 3.48552083e-02 3.47072265e-02 3.67836480e+02] [-3.48358779e-02 9.99392371e-01 -1.16169490e-03 -1.59400037e+01] [-3.47266285e-02 -4.87680003e-05 9.99396848e-01 -7.99296192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42439141799997 meters 0.01505275669882395 Centerline is valid? [True, True] Translation: X:367.90, Y:-15.94, Z:-8.00 [[ 9.98877867e-01 3.25970398e-02 3.43575302e-02 3.67897940e+02] [-3.25767593e-02 9.99468575e-01 -1.15005552e-03 -1.59403892e+01] [-3.43767601e-02 2.95080179e-05 9.99408944e-01 -7.99581198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484391418 meters 0.015549297912926469 Centerline is valid? [True, True] Translation: X:367.96, Y:-15.94, Z:-8.00 [[ 9.98936226e-01 3.01098907e-02 3.49258024e-02 3.67958918e+02] [-3.00873640e-02 9.99546587e-01 -1.17049919e-03 -1.59387002e+01] [-3.49452102e-02 1.18428716e-04 9.99389223e-01 -7.99725257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544391418 meters 0.015534324641210554 Centerline is valid? [True, True] Translation: X:368.02, Y:-15.94, Z:-8.00 [[ 9.98906014e-01 3.00807614e-02 3.58039598e-02 3.68021398e+02] [-3.00568966e-02 9.99547463e-01 -1.20472564e-03 -1.59366319e+01] [-3.58239962e-02 1.27251769e-04 9.99358107e-01 -7.99898471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604391418 meters 0.015888276652788726 Centerline is valid? [True, True] Translation: X:368.08, Y:-15.93, Z:-8.00 [[ 9.98864061e-01 3.09588470e-02 3.62234360e-02 3.68084157e+02] [-3.09346243e-02 9.99520654e-01 -1.22910863e-03 -1.59332933e+01] [-3.62441242e-02 1.07154055e-04 9.99342960e-01 -8.00209194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664391418 meters 0.01593779107395156 Centerline is valid? [True, True] Translation: X:368.15, Y:-15.93, Z:-8.00 [[ 9.98767887e-01 3.31707817e-02 3.69107907e-02 3.68145953e+02] [-3.31467996e-02 9.99449698e-01 -1.26165434e-03 -1.59306447e+01] [-3.69323287e-02 3.66252539e-05 9.99317768e-01 -8.00391879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724391418 meters 0.015915905573480077 Centerline is valid? [True, True] Translation: X:368.21, Y:-15.93, Z:-8.01 [[ 9.98611090e-01 3.69285598e-02 3.75788795e-02 3.68207543e+02] [-3.69061712e-02 9.99317903e-01 -1.28952870e-03 -1.59250683e+01] [-3.76008675e-02 -9.91548996e-05 9.99292832e-01 -8.00714241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7843914179999 meters 0.01620185231449415 Centerline is valid? [True, True] Translation: X:368.27, Y:-15.92, Z:-8.01 [[ 9.98488358e-01 3.92632207e-02 3.84629581e-02 3.68267950e+02] [-3.92414630e-02 9.99228884e-01 -1.32075776e-03 -1.59196729e+01] [-3.84851560e-02 -1.90581504e-04 9.99259154e-01 -8.00816102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84439141799993 meters 0.016372975645637267 Centerline is valid? [True, True] Translation: X:368.33, Y:-15.92, Z:-8.01 [[ 9.98442554e-01 3.99237013e-02 3.89687544e-02 3.68327281e+02] [-3.99018964e-02 9.99202707e-01 -1.33745755e-03 -1.59187984e+01] [-3.89910811e-02 -2.19552668e-04 9.99239535e-01 -8.01126504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90439141799993 meters 0.016658501665416634 Centerline is valid? [True, True] Translation: X:368.39, Y:-15.92, Z:-8.01 [[ 9.98472618e-01 3.95454674e-02 3.85822168e-02 3.68386862e+02] [-3.95238564e-02 9.99217751e-01 -1.32300934e-03 -1.59173293e+01] [-3.86043549e-02 -2.03929402e-04 9.99254553e-01 -8.01352435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96439141799993 meters 0.016409612180971492 Centerline is valid? [True, True] Translation: X:368.45, Y:-15.92, Z:-8.02 [[ 9.98577714e-01 3.61850093e-02 3.91560209e-02 3.68447171e+02] [-3.61601848e-02 9.99345105e-01 -1.34225213e-03 -1.59185970e+01] [-3.91789473e-02 -7.55458899e-05 9.99232207e-01 -8.01617489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02439141799994 meters 0.016814137942068787 Centerline is valid? [True, True] Translation: X:368.51, Y:-15.92, Z:-8.02 [[ 9.98743762e-01 3.17888193e-02 3.87345883e-02 3.68508443e+02] [-3.17611962e-02 9.99494603e-01 -1.32844565e-03 -1.59217591e+01] [-3.87572417e-02 9.65199436e-05 9.99248651e-01 -8.01799549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08439141799994 meters 0.016668454829316417 Centerline is valid? [True, True] Translation: X:368.57, Y:-15.92, Z:-8.02 [[ 9.98851801e-01 2.86897926e-02 3.83663285e-02 3.68571175e+02] [-2.86601690e-02 9.99588339e-01 -1.32201041e-03 -1.59246104e+01] [-3.83884628e-02 2.20907023e-04 9.99262867e-01 -8.02166980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14439141799994 meters 0.017340023538598502 Centerline is valid? [True, True] Translation: X:368.63, Y:-15.93, Z:-8.03 [[ 9.99009940e-01 2.47689516e-02 3.69545637e-02 3.68633998e+02] [-2.47383453e-02 9.99693134e-01 -1.28530787e-03 -1.59260417e+01] [-3.69750594e-02 3.69840583e-04 9.99316120e-01 -8.02513802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20439141799994 meters 0.01828772761648879 Centerline is valid? [True, True] Translation: X:368.70, Y:-15.93, Z:-8.03 [[ 9.99114258e-01 2.18954116e-02 3.59345427e-02 3.68695662e+02] [-2.18642241e-02 9.99760154e-01 -1.26068297e-03 -1.59274187e+01] [-3.59535272e-02 4.73885436e-04 9.99353351e-01 -8.02696971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26439141799995 meters 0.019376431410274814 Centerline is valid? [True, True] Translation: X:368.76, Y:-15.93, Z:-8.03 [[ 9.99187600e-01 1.97411512e-02 3.51344209e-02 3.68756553e+02] [-1.97096867e-02 9.99804974e-01 -1.24170670e-03 -1.59272161e+01] [-3.51520815e-02 5.48209509e-04 9.99381824e-01 -8.02818001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32439141799995 meters 0.01876658816757917 Centerline is valid? [True, True] Translation: X:368.82, Y:-15.93, Z:-8.03 [[ 9.99201760e-01 1.90197647e-02 3.51296466e-02 3.68819348e+02] [-1.89875336e-02 9.99818938e-01 -1.25090664e-03 -1.59251080e+01] [-3.51470779e-02 5.82882765e-04 9.99381981e-01 -8.02989709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38439141799995 meters 0.019481761030909327 Centerline is valid? [True, True] Translation: X:368.88, Y:-15.92, Z:-8.03 [[ 9.99309500e-01 1.65368647e-02 3.32724500e-02 3.68882096e+02] [-1.65062736e-02 9.99863049e-01 -1.19389858e-03 -1.59239479e+01] [-3.32876367e-02 6.43870032e-04 9.99445606e-01 -8.03254397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44439141799995 meters 0.02088331086059505 Centerline is valid? [True, True] Translation: X:368.94, Y:-15.92, Z:-8.03 [[ 9.99391889e-01 1.31079746e-02 3.23114955e-02 3.68943630e+02] [-1.30770889e-02 9.99913810e-01 -1.16702429e-03 -1.59247870e+01] [-3.23240080e-02 7.43774308e-04 9.99477166e-01 -8.03417394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50439141799995 meters 0.02197345848086651 Centerline is valid? [True, True] Translation: X:369.01, Y:-15.92, Z:-8.04 [[ 9.99453899e-01 8.95531703e-03 3.18073305e-02 3.69005885e+02] [-8.92315961e-03 9.99959523e-01 -1.15281265e-03 -1.59237869e+01] [-3.18163669e-02 8.68361207e-04 9.99493354e-01 -8.03572404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56439141799996 meters 0.023210103028903854 Centerline is valid? [True, True] Translation: X:369.07, Y:-15.93, Z:-8.04 [[ 9.99499451e-01 5.96930491e-03 3.10678946e-02 3.69067634e+02] [-5.93708964e-03 9.99981738e-01 -1.12907772e-03 -1.59259657e+01] [-3.10740671e-02 9.44059690e-04 9.99516639e-01 -8.03793048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62439141799996 meters 0.025671144936740845 Centerline is valid? [True, True] Translation: X:369.13, Y:-15.93, Z:-8.04 [[ 9.99554398e-01 1.62090626e-03 2.98056610e-02 3.69129557e+02] [-1.58917433e-03 9.99998145e-01 -1.08828546e-03 -1.59286065e+01] [-2.98073698e-02 1.04043412e-03 9.99555120e-01 -8.04009791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68439141799996 meters 0.027024921341017544 Centerline is valid? [True, True] Translation: X:369.19, Y:-15.93, Z:-8.04 [[ 9.99579250e-01 -1.53518329e-03 2.89649187e-02 3.69191409e+02] [ 1.56668598e-03 9.99998206e-01 -1.06495259e-03 -1.59308853e+01] [-2.89632318e-02 1.10988344e-03 9.99579861e-01 -8.04194694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74439141799996 meters 0.027193243774722427 Centerline is valid? [True, True] Translation: X:369.25, Y:-15.93, Z:-8.05 [[ 9.99614173e-01 -2.48972984e-03 2.76641658e-02 3.69253247e+02] [ 2.51902652e-03 9.99996303e-01 -1.02421247e-03 -1.59318761e+01] [-2.76615135e-02 1.09350406e-03 9.99616749e-01 -8.04524170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80439141799997 meters 0.026401084478556245 Centerline is valid? [True, True] Translation: X:369.32, Y:-15.93, Z:-8.05 [[ 9.99643766e-01 -1.65924401e-03 2.66380939e-02 3.69315991e+02] [ 1.68629102e-03 9.99998085e-01 -9.92918872e-04 -1.59326772e+01] [-2.66363954e-02 1.03748474e-03 9.99644650e-01 -8.04799206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86439141799997 meters 0.026031926848272685 Centerline is valid? [True, True] Translation: X:369.38, Y:-15.93, Z:-8.05 [[ 9.99642288e-01 -7.42388355e-04 2.67347153e-02 3.69377987e+02] [ 7.69431544e-04 9.99999203e-01 -1.00126541e-03 -1.59347442e+01] [-2.67339507e-02 1.02147778e-03 9.99642062e-01 -8.04986395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92439141799997 meters 0.027556983684718196 Centerline is valid? [True, True] Translation: X:369.44, Y:-15.94, Z:-8.05 [[ 9.99634737e-01 -9.63877876e-04 2.70085939e-02 3.69439124e+02] [ 9.91765050e-04 9.99998989e-01 -1.01915314e-03 -1.59395736e+01] [-2.70075842e-02 1.04556706e-03 9.99634682e-01 -8.05088013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984391418 meters 0.02683036436091234 Centerline is valid? [True, True] Translation: X:369.50, Y:-15.94, Z:-8.05 [[ 9.99634777e-01 -1.24407666e-03 2.69956464e-02 3.69501069e+02] [ 1.27223140e-03 9.99998665e-01 -1.02578597e-03 -1.59434011e+01] [-2.69943342e-02 1.05975604e-03 9.99635025e-01 -8.05385769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044391418 meters 0.026618257867844723 Centerline is valid? [True, True] Translation: X:369.56, Y:-15.95, Z:-8.06 [[ 9.99639399e-01 -6.89384886e-04 2.68439442e-02 3.69563893e+02] [ 7.17232340e-04 9.99999215e-01 -1.02776851e-03 -1.59470866e+01] [-2.68432146e-02 1.04665124e-03 9.99639108e-01 -8.05583242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104391418 meters 0.02609936739607983 Centerline is valid? [True, True] Translation: X:369.63, Y:-15.95, Z:-8.06 [[ 9.99651168e-01 1.35898068e-03 2.63760532e-02 3.69626316e+02] [-1.33261339e-03 9.99998595e-01 -1.01721964e-03 -1.59502928e+01] [-2.63773985e-02 9.81715722e-04 9.99651574e-01 -8.05770261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164391418 meters 0.023782284976508937 Centerline is valid? [True, True] Translation: X:369.69, Y:-15.95, Z:-8.06 [[ 9.99633819e-01 5.78920551e-03 2.64331762e-02 3.69688250e+02] [-5.76421657e-03 9.99982865e-01 -1.02146229e-03 -1.59513821e+01] [-2.64386367e-02 8.68721695e-04 9.99650061e-01 -8.06072904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224391418 meters 0.02289374404288726 Centerline is valid? [True, True] Translation: X:369.75, Y:-15.95, Z:-8.06 [[ 9.99614145e-01 8.01358767e-03 2.65959421e-02 3.69750109e+02] [-7.98900607e-03 9.99967557e-01 -1.03039087e-03 -1.59538378e+01] [-2.66033364e-02 8.17518150e-04 9.99645734e-01 -8.06142762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2843914179999 meters 0.020668244468828936 Centerline is valid? [True, True] Translation: X:369.81, Y:-15.96, Z:-8.06 [[ 9.99574818e-01 1.29702075e-02 2.61143115e-02 3.69811323e+02] [-1.29480341e-02 9.99915652e-01 -1.01801291e-03 -1.59560568e+01] [-2.61253127e-02 6.79451071e-04 9.99658445e-01 -8.06460137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34439141799993 meters 0.018675281924256062 Centerline is valid? [True, True] Translation: X:369.87, Y:-15.96, Z:-8.07 [[ 9.99479676e-01 1.76084158e-02 2.70244394e-02 3.69872496e+02] [-1.75863327e-02 9.99844792e-01 -1.05462900e-03 -1.59590758e+01] [-2.70388153e-02 5.78819465e-04 9.99634217e-01 -8.06603192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40439141799993 meters 0.017845183823732663 Centerline is valid? [True, True] Translation: X:369.93, Y:-15.96, Z:-8.07 [[ 9.99379645e-01 2.14655155e-02 2.79205390e-02 3.69934180e+02] [-2.14433750e-02 9.99769468e-01 -1.09219048e-03 -1.59626775e+01] [-2.79375468e-02 4.92802347e-04 9.99609549e-01 -8.06702903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46439141799993 meters 0.016988957288690522 Centerline is valid? [True, True] Translation: X:370.00, Y:-15.97, Z:-8.07 [[ 9.99320371e-01 2.45879215e-02 2.74632536e-02 3.69996139e+02] [-2.45674698e-02 9.99697589e-01 -1.08191186e-03 -1.59662367e+01] [-2.74815504e-02 4.06473908e-04 9.99622228e-01 -8.07033155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52439141799994 meters 0.016022570833610417 Centerline is valid? [True, True] Translation: X:370.06, Y:-15.97, Z:-8.07 [[ 9.99225508e-01 2.87710080e-02 2.68442375e-02 3.70057350e+02] [-2.87528094e-02 9.99585986e-01 -1.06375969e-03 -1.59708414e+01] [-2.68637291e-02 2.91088571e-04 9.99639063e-01 -8.07363352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58439141799994 meters 0.015094003971386239 Centerline is valid? [True, True] Translation: X:370.12, Y:-15.97, Z:-8.08 [[ 9.99070422e-01 3.41707426e-02 2.62802526e-02 3.70117536e+02] [-3.41551518e-02 9.99415999e-01 -1.04203539e-03 -1.59716476e+01] [-2.63005120e-02 1.43460717e-04 9.99654071e-01 -8.07552180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64439141799994 meters 0.01460491457478683 Centerline is valid? [True, True] Translation: X:370.18, Y:-15.97, Z:-8.08 [[ 9.98966997e-01 3.71566546e-02 2.61595444e-02 3.70176033e+02] [-3.71422692e-02 9.99309451e-01 -1.03575962e-03 -1.59742297e+01] [-2.61799653e-02 6.30648345e-05 9.99657244e-01 -8.07753229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70439141799994 meters 0.014571654414609335 Centerline is valid? [True, True] Translation: X:370.23, Y:-15.98, Z:-8.08 [[ 9.98844784e-01 4.05990998e-02 2.57062482e-02 3.70233498e+02] [-4.05864010e-02 9.99175516e-01 -1.01577077e-03 -1.59771304e+01] [-2.57262932e-02 -2.87267649e-05 9.99669024e-01 -8.07959655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76439141799995 meters 0.014905325641995804 Centerline is valid? [True, True] Translation: X:370.29, Y:-15.98, Z:-8.08 [[ 9.98816349e-01 4.18906940e-02 2.47198517e-02 3.70291658e+02] [-4.18794022e-02 9.99122198e-01 -9.74550669e-04 -1.59808347e+01] [-2.47389771e-02 -6.18554685e-05 9.99693943e-01 -8.08266492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82439141799995 meters 0.01488080579210987 Centerline is valid? [True, True] Translation: X:370.35, Y:-15.99, Z:-8.08 [[ 9.98838341e-01 4.09309084e-02 2.54289118e-02 3.70348700e+02] [-4.09187024e-02 9.99161978e-01 -1.00038280e-03 -1.59878862e+01] [-2.54485484e-02 -4.12973755e-05 9.99676132e-01 -8.08422011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88439141799995 meters 0.014980002225365555 Centerline is valid? [True, True] Translation: X:370.41, Y:-15.99, Z:-8.09 [[ 9.98828330e-01 4.07755599e-02 2.60637982e-02 3.70407424e+02] [-4.07627492e-02 9.99168330e-01 -1.02285410e-03 -1.59926817e+01] [-2.60838292e-02 -4.07764200e-05 9.99659758e-01 -8.08536866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94439141799995 meters 0.01469503939356803 Centerline is valid? [True, True] Translation: X:370.47, Y:-16.00, Z:-8.09 [[ 9.98782384e-01 4.18395211e-02 2.61381850e-02 3.70465910e+02] [-4.18270549e-02 9.99124341e-01 -1.02372609e-03 -1.59961643e+01] [-2.61581291e-02 -7.08037146e-05 9.99657815e-01 -8.08732177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00439141799995 meters 0.014692766470645076 Centerline is valid? [True, True] Translation: X:370.53, Y:-16.00, Z:-8.09 [[ 9.98723894e-01 4.30234287e-02 2.64493327e-02 3.70525131e+02] [-4.30111358e-02 9.99074058e-01 -1.03376532e-03 -1.59981398e+01] [-2.64693183e-02 -1.05169718e-04 9.99649621e-01 -8.08882427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06439141799996 meters 0.014283173507723741 Centerline is valid? [True, True] Translation: X:370.58, Y:-16.00, Z:-8.09 [[ 9.98714696e-01 4.31037078e-02 2.66650820e-02 3.70584251e+02] [-4.30912991e-02 9.99070597e-01 -1.04006709e-03 -1.60008166e+01] [-2.66851302e-02 -1.10302741e-04 9.99643882e-01 -8.09007223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12439141799996 meters 0.014320605568507552 Centerline is valid? [True, True] Translation: X:370.64, Y:-16.00, Z:-8.09 [[ 9.98742607e-01 4.19851922e-02 2.73942997e-02 3.70642755e+02] [-4.19717348e-02 9.99118229e-01 -1.06631627e-03 -1.60037512e+01] [-2.74149138e-02 -8.48107917e-05 9.99624137e-01 -8.09143718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18439141799996 meters 0.014266332728433943 Centerline is valid? [True, True] Translation: X:370.70, Y:-16.01, Z:-8.09 [[ 9.98812467e-01 4.05667847e-02 2.69813193e-02 3.70701423e+02] [-4.05532682e-02 9.99176828e-01 -1.04818255e-03 -1.60056937e+01] [-2.70016304e-02 -4.72428819e-05 9.99635388e-01 -8.09315140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24439141799996 meters 0.014251950560015795 Centerline is valid? [True, True] Translation: X:370.76, Y:-16.01, Z:-8.10 [[ 9.98881165e-01 3.96259188e-02 2.58109317e-02 3.70759721e+02] [-3.96132851e-02 9.99214585e-01 -1.00080219e-03 -1.60073682e+01] [-2.58303171e-02 -2.27733400e-05 9.99666341e-01 -8.09648999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30439141799997 meters 0.014325396514531918 Centerline is valid? [True, True] Translation: X:370.82, Y:-16.01, Z:-8.10 [[ 9.98928776e-01 3.89026391e-02 2.50576512e-02 3.70818219e+02] [-3.88905527e-02 9.99243006e-01 -9.69677055e-04 -1.60067347e+01] [-2.50764057e-02 -5.86759096e-06 9.99685537e-01 -8.09805693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36439141799997 meters 0.014271078778405784 Centerline is valid? [True, True] Translation: X:370.88, Y:-16.01, Z:-8.10 [[ 9.98963187e-01 3.80213288e-02 2.50385544e-02 3.70876725e+02] [-3.80090329e-02 9.99276928e-01 -9.66989289e-04 -1.60075863e+01] [-2.50572159e-02 1.42954640e-05 9.99686019e-01 -8.09956013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42439141799997 meters 0.014229282978499904 Centerline is valid? [True, True] Translation: X:370.93, Y:-16.01, Z:-8.10 [[ 9.98986719e-01 3.71226726e-02 2.54448775e-02 3.70934127e+02] [-3.71097384e-02 9.99310715e-01 -9.80499112e-04 -1.60073966e+01] [-2.54637375e-02 3.52528435e-05 9.99675746e-01 -8.10061742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484391418 meters 0.014225510658698837 Centerline is valid? [True, True] Translation: X:370.99, Y:-16.01, Z:-8.10 [[ 9.99003881e-01 3.70536633e-02 2.48650864e-02 3.70992815e+02] [-3.70413502e-02 9.99313277e-01 -9.55762334e-04 -1.60059267e+01] [-2.48834255e-02 3.37739073e-05 9.99690359e-01 -8.10178046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544391418 meters 0.014143779730467132 Centerline is valid? [True, True] Translation: X:371.05, Y:-16.00, Z:-8.10 [[ 9.98952504e-01 3.90972140e-02 2.37761078e-02 3.71051760e+02] [-3.90865777e-02 9.99235411e-01 -9.12094068e-04 -1.60022568e+01] [-2.37935892e-02 -1.81880324e-05 9.99716892e-01 -8.10354410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604391418 meters 0.014374235870006495 Centerline is valid? [True, True] Translation: X:371.11, Y:-16.00, Z:-8.10 [[ 9.98865681e-01 4.11676124e-02 2.39286295e-02 3.71110597e+02] [-4.11574791e-02 9.99152252e-01 -9.16028168e-04 -1.59997723e+01] [-2.39460547e-02 -6.98529670e-05 9.99713250e-01 -8.10441590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664391418 meters 0.014378390071412924 Centerline is valid? [True, True] Translation: X:371.17, Y:-16.00, Z:-8.11 [[ 9.98815372e-01 4.21441302e-02 2.43253884e-02 3.71168277e+02] [-4.21339960e-02 9.99111537e-01 -9.29223855e-04 -1.59993242e+01] [-2.43429376e-02 -9.68027489e-05 9.99703662e-01 -8.10516483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724391418 meters 0.014291768155897928 Centerline is valid? [True, True] Translation: X:371.23, Y:-16.00, Z:-8.11 [[ 9.98746665e-01 4.36052745e-02 2.45698712e-02 3.71227719e+02] [-4.35954355e-02 9.99048828e-01 -9.36209815e-04 -1.59964042e+01] [-2.45873248e-02 -1.36097805e-04 9.99697677e-01 -8.10574860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7843914179999 meters 0.014365983196902356 Centerline is valid? [True, True] Translation: X:371.29, Y:-15.99, Z:-8.11 [[ 9.98756966e-01 4.35898554e-02 2.41753631e-02 3.71285880e+02] [-4.35803717e-02 9.99049501e-01 -9.19261570e-04 -1.59942406e+01] [-2.41924549e-02 -1.35452411e-04 9.99707311e-01 -8.10725921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84439141799993 meters 0.014117482672329146 Centerline is valid? [True, True] Translation: X:371.34, Y:-15.99, Z:-8.11 [[ 9.98835934e-01 4.23066973e-02 2.31715427e-02 3.71344739e+02] [-4.22976987e-02 9.99104666e-01 -8.78543141e-04 -1.59937322e+01] [-2.31879647e-02 -1.02582472e-04 9.99731118e-01 -8.10974333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90439141799993 meters 0.013912971575343578 Centerline is valid? [True, True] Translation: X:371.40, Y:-16.00, Z:-8.11 [[ 9.98918876e-01 4.04302583e-02 2.29450026e-02 3.71402309e+02] [-4.04209826e-02 9.99182361e-01 -8.68093092e-04 -1.59950271e+01] [-2.29613391e-02 -6.03049775e-05 9.99736352e-01 -8.11138955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96439141799993 meters 0.013882807671777703 Centerline is valid? [True, True] Translation: X:371.46, Y:-16.00, Z:-8.11 [[ 9.99019772e-01 3.75920005e-02 2.33738471e-02 3.71460880e+02] [-3.75816528e-02 9.99293171e-01 -8.81975269e-04 -1.59968316e+01] [-2.33904810e-02 2.68292769e-06 9.99726405e-01 -8.11240105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02439141799994 meters 0.014368260976323616 Centerline is valid? [True, True] Translation: X:371.52, Y:-16.00, Z:-8.11 [[ 9.99088782e-01 3.54518509e-02 2.37649360e-02 3.71519507e+02] [-3.54405942e-02 9.99371384e-01 -8.94812499e-04 -1.59974920e+01] [-2.37817198e-02 5.17536750e-05 9.99717174e-01 -8.11336499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08439141799994 meters 0.014001701577103615 Centerline is valid? [True, True] Translation: X:371.58, Y:-16.00, Z:-8.11 [[ 9.99136884e-01 3.41829629e-02 2.36011107e-02 3.71578569e+02] [-3.41715509e-02 9.99415589e-01 -8.86784032e-04 -1.59991037e+01] [-2.36176309e-02 7.95320770e-05 9.99721062e-01 -8.11465533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14439141799994 meters 0.014276597663758023 Centerline is valid? [True, True] Translation: X:371.64, Y:-16.00, Z:-8.12 [[ 9.99268120e-01 3.11698156e-02 2.21735587e-02 3.71635788e+02] [-3.11590378e-02 9.99514093e-01 -8.31479696e-04 -1.60017096e+01] [-2.21887015e-02 1.39964398e-04 9.99753791e-01 -8.11751108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20439141799994 meters 0.014747627281343864 Centerline is valid? [True, True] Translation: X:371.69, Y:-16.00, Z:-8.12 [[ 9.99367989e-01 2.82363985e-02 2.15946531e-02 3.71694143e+02] [-2.82255361e-02 9.99601254e-01 -8.07703864e-04 -1.60035482e+01] [-2.16088489e-02 1.97672727e-04 9.99766482e-01 -8.11973914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26439141799995 meters 0.01596057362805502 Centerline is valid? [True, True] Translation: X:371.75, Y:-16.01, Z:-8.12 [[ 9.99443229e-01 2.46979910e-02 2.24330364e-02 3.71752613e+02] [-2.46854190e-02 9.99694918e-01 -8.37212595e-04 -1.60099181e+01] [-2.24468700e-02 2.82977557e-04 9.99747997e-01 -8.12088128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32439141799995 meters 0.016111980777987193 Centerline is valid? [True, True] Translation: X:371.81, Y:-16.01, Z:-8.12 [[ 9.99500257e-01 2.24917798e-02 2.22116002e-02 3.71811625e+02] [-2.24789389e-02 9.99746974e-01 -8.27655671e-04 -1.60146331e+01] [-2.22245955e-02 3.27948852e-04 9.99752949e-01 -8.12283949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38439141799995 meters 0.01572761068654146 Centerline is valid? [True, True] Translation: X:371.87, Y:-16.02, Z:-8.12 [[ 9.99492740e-01 2.29258656e-02 2.21058306e-02 3.71872515e+02] [-2.29132812e-02 9.99737118e-01 -8.22432910e-04 -1.60164016e+01] [-2.21188744e-02 3.15498609e-04 9.99755298e-01 -8.12415180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44439141799995 meters 0.015680857041924172 Centerline is valid? [True, True] Translation: X:371.93, Y:-16.02, Z:-8.12 [[ 9.99475346e-01 2.29397722e-02 2.28648020e-02 3.71933462e+02] [-2.29263123e-02 9.99736796e-01 -8.50669944e-04 -1.60189935e+01] [-2.28782981e-02 3.26018044e-04 9.99738204e-01 -8.12460751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50439141799995 meters 0.01671725449628893 Centerline is valid? [True, True] Translation: X:371.99, Y:-16.02, Z:-8.13 [[ 9.99489971e-01 2.11525766e-02 2.39241628e-02 3.71992442e+02] [-2.11373279e-02 9.99776185e-01 -8.90110367e-04 -1.60241983e+01] [-2.39376363e-02 3.83963513e-04 9.99713380e-01 -8.12613358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56439141799996 meters 0.017453749121818594 Centerline is valid? [True, True] Translation: X:372.05, Y:-16.03, Z:-8.13 [[ 9.99567316e-01 1.74020711e-02 2.37139126e-02 3.72053875e+02] [-1.73860160e-02 9.99848462e-01 -8.83051040e-04 -1.60311812e+01] [-2.37256859e-02 4.70378493e-04 9.99718396e-01 -8.12935014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62439141799996 meters 0.01864438702756045 Centerline is valid? [True, True] Translation: X:372.11, Y:-16.04, Z:-8.13 [[ 9.99600498e-01 1.57105075e-02 2.34952092e-02 3.72114926e+02] [-1.56941357e-02 9.99876451e-01 -8.81059247e-04 -1.60384406e+01] [-2.35061483e-02 5.11970261e-04 9.99723561e-01 -8.13161292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68439141799996 meters 0.019011518346437495 Centerline is valid? [True, True] Translation: X:372.18, Y:-16.04, Z:-8.13 [[ 9.99597770e-01 1.51457845e-02 2.39771510e-02 3.72177252e+02] [-1.51284183e-02 9.99885149e-01 -9.05516997e-04 -1.60425194e+01] [-2.39881120e-02 5.42416400e-04 9.99712097e-01 -8.13332561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74439141799996 meters 0.017949748553958103 Centerline is valid? [True, True] Translation: X:372.24, Y:-16.04, Z:-8.13 [[ 9.99523074e-01 1.68034901e-02 2.59088165e-02 3.72239976e+02] [-1.67835852e-02 9.99858660e-01 -9.85548375e-04 -1.60435395e+01] [-2.59217152e-02 5.50235511e-04 9.99663824e-01 -8.13312216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80439141799997 meters 0.016923862423075312 Centerline is valid? [True, True] Translation: X:372.30, Y:-16.04, Z:-8.13 [[ 9.99403904e-01 2.14745910e-02 2.70310520e-02 3.72300894e+02] [-2.14545310e-02 9.99769292e-01 -1.03194747e-03 -1.60446158e+01] [-2.70469764e-02 4.51393793e-04 9.99634062e-01 -8.13398514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86439141799997 meters 0.01482752871571131 Centerline is valid? [True, True] Translation: X:372.36, Y:-16.04, Z:-8.14 [[ 9.99273580e-01 2.75205387e-02 2.63615752e-02 3.72363542e+02] [-2.75033799e-02 9.99621197e-01 -1.01332891e-03 -1.60438448e+01] [-2.63794767e-02 2.87560395e-04 9.99651960e-01 -8.13721190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92439141799997 meters 0.014320437968414857 Centerline is valid? [True, True] Translation: X:372.42, Y:-16.04, Z:-8.14 [[ 9.99137748e-01 3.28702582e-02 2.53635075e-02 3.72422939e+02] [-3.28559430e-02 9.99459616e-01 -9.81047161e-04 -1.60433169e+01] [-2.53820487e-02 1.46859295e-04 9.99677813e-01 -8.13999563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984391418 meters 0.014025039577495535 Centerline is valid? [True, True] Translation: X:372.48, Y:-16.04, Z:-8.14 [[ 9.98687627e-01 4.43174969e-02 2.56706826e-02 3.72482021e+02] [-4.43066311e-02 9.99017486e-01 -9.92187242e-04 -1.60362383e+01] [-2.56894321e-02 -1.46496342e-04 9.99669961e-01 -8.14147454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044391418 meters 0.016716221149524525 Centerline is valid? [True, True] Translation: X:372.54, Y:-16.03, Z:-8.14 [[ 9.98049967e-01 5.64378202e-02 2.66652574e-02 3.72541852e+02] [-5.64304710e-02 9.98406002e-01 -1.02863304e-03 -1.60296196e+01] [-2.66808069e-02 -4.78105869e-04 9.99643890e-01 -8.14246883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104391418 meters 0.018912435371734548 Centerline is valid? [True, True] Translation: X:372.60, Y:-16.03, Z:-8.14 [[ 9.97648423e-01 6.29729061e-02 2.70561989e-02 3.72601717e+02] [-6.29677698e-02 9.98015016e-01 -1.04263257e-03 -1.60283238e+01] [-2.70681504e-02 -6.63487764e-04 9.99633370e-01 -8.14391436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164391418 meters 0.021639749728254252 Centerline is valid? [True, True] Translation: X:372.66, Y:-16.03, Z:-8.15 [[ 9.97248703e-01 6.87001536e-02 2.78444642e-02 3.72661338e+02] [-6.86969746e-02 9.97636996e-01 -1.07188716e-03 -1.60283050e+01] [-2.78523064e-02 -8.43892373e-04 9.99611693e-01 -8.14603232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224391418 meters 0.02131893797192729 Centerline is valid? [True, True] Translation: X:372.72, Y:-16.03, Z:-8.15 [[ 9.97232035e-01 6.92197222e-02 2.71458788e-02 3.72719980e+02] [-6.92169540e-02 9.97601086e-01 -1.04274170e-03 -1.60334336e+01] [-2.71529364e-02 -8.39099616e-04 9.99630939e-01 -8.14886676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2843914179999 meters 0.021275676827096017 Centerline is valid? [True, True] Translation: X:372.78, Y:-16.04, Z:-8.15 [[ 9.97357390e-01 6.77041118e-02 2.63512654e-02 3.72779030e+02] [-6.77011600e-02 9.97705138e-01 -1.00518856e-03 -1.60377962e+01] [-2.63588483e-02 -7.81478994e-04 9.99652240e-01 -8.15142531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34439141799993 meters 0.019329954282215053 Centerline is valid? [True, True] Translation: X:372.84, Y:-16.05, Z:-8.15 [[ 9.97640436e-01 6.33828666e-02 2.63850977e-02 3.72837618e+02] [-6.33785535e-02 9.97989057e-01 -1.00054899e-03 -1.60465129e+01] [-2.63954565e-02 -6.74061197e-04 9.99651352e-01 -8.15236658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40439141799993 meters 0.016378361625224932 Centerline is valid? [True, True] Translation: X:372.90, Y:-16.06, Z:-8.15 [[ 9.98020157e-01 5.65577198e-02 2.75134516e-02 3.72897470e+02] [-5.65504900e-02 9.98399197e-01 -1.04142593e-03 -1.60573980e+01] [-2.75283086e-02 -5.16535100e-04 9.99620891e-01 -8.15315450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46439141799993 meters 0.014714923237190616 Centerline is valid? [True, True] Translation: X:372.96, Y:-16.07, Z:-8.16 [[ 9.98421034e-01 4.91557116e-02 2.71873890e-02 3.72955290e+02] [-4.91459309e-02 9.98791079e-01 -1.02823570e-03 -1.60674732e+01] [-2.72050652e-02 -3.09537393e-04 9.99629826e-01 -8.15547327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52439141799994 meters 0.013546690412798086 Centerline is valid? [True, True] Translation: X:373.01, Y:-16.07, Z:-8.16 [[ 9.98657574e-01 4.42768321e-02 2.68814262e-02 3.73014145e+02] [-4.42655597e-02 9.99019285e-01 -1.01455371e-03 -1.60743992e+01] [-2.68999844e-02 -1.76729632e-04 9.99638114e-01 -8.15707462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58439141799994 meters 0.01333577935808293 Centerline is valid? [True, True] Translation: X:373.07, Y:-16.08, Z:-8.16 [[ 9.98754864e-01 4.21064780e-02 2.67538002e-02 3.73072922e+02] [-4.20945903e-02 9.99113122e-01 -1.00762802e-03 -1.60785347e+01] [-2.67725005e-02 -1.19816867e-04 9.99641545e-01 -8.15866002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64439141799994 meters 0.013207770516009095 Centerline is valid? [True, True] Translation: X:373.13, Y:-16.08, Z:-8.16 [[ 9.98955054e-01 3.69979643e-02 2.68319034e-02 3.73130722e+02] [-3.69842249e-02 9.99315341e-01 -1.00831259e-03 -1.60840143e+01] [-2.68508382e-02 1.49018032e-05 9.99639451e-01 -8.15926827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70439141799994 meters 0.013631175791942238 Centerline is valid? [True, True] Translation: X:373.19, Y:-16.09, Z:-8.16 [[ 9.99178448e-01 3.17574141e-02 2.51772754e-02 3.73189794e+02] [-3.17437113e-02 9.99495596e-01 -9.43842506e-04 -1.60893927e+01] [-2.51945499e-02 1.43846930e-04 9.99682557e-01 -8.16157638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76439141799995 meters 0.014505692792649367 Centerline is valid? [True, True] Translation: X:373.25, Y:-16.09, Z:-8.17 [[ 9.99393498e-01 2.58396375e-02 2.33441700e-02 3.73249672e+02] [-2.58262816e-02 9.99666064e-01 -8.73487055e-04 -1.60938257e+01] [-2.33589451e-02 2.70064176e-04 9.99727106e-01 -8.16534309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82439141799995 meters 0.015644348993463154 Centerline is valid? [True, True] Translation: X:373.31, Y:-16.10, Z:-8.17 [[ 9.99521989e-01 2.14705475e-02 2.22442985e-02 3.73310155e+02] [-2.14573576e-02 9.99769419e-01 -8.31495824e-04 -1.60962069e+01] [-2.22570220e-02 3.53794493e-04 9.99752219e-01 -8.16818723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88439141799995 meters 0.01587816750858392 Centerline is valid? [True, True] Translation: X:373.37, Y:-16.10, Z:-8.17 [[ 9.99541830e-01 2.04337627e-02 2.23291649e-02 3.73371161e+02] [-2.04202131e-02 9.99791137e-01 -8.34680148e-04 -1.60953490e+01] [-2.23415568e-02 3.78331418e-04 9.99750325e-01 -8.16887655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94439141799995 meters 0.01626059228205819 Centerline is valid? [True, True] Translation: X:373.43, Y:-16.09, Z:-8.17 [[ 9.99529879e-01 1.91599206e-02 2.39357215e-02 3.73432528e+02] [-1.91439607e-02 9.99816336e-01 -8.95772977e-04 -1.60927793e+01] [-2.39484883e-02 4.37127345e-04 9.99713098e-01 -8.16874800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00439141799995 meters 0.017225881090183297 Centerline is valid? [True, True] Translation: X:373.49, Y:-16.09, Z:-8.17 [[ 9.99550150e-01 1.80575453e-02 2.39462597e-02 3.73493955e+02] [-1.80412216e-02 9.99836841e-01 -8.97562118e-04 -1.60940038e+01] [-2.39585604e-02 4.65138571e-04 9.99712844e-01 -8.17125749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06439141799996 meters 0.016621525053372384 Centerline is valid? [True, True] Translation: X:373.56, Y:-16.10, Z:-8.17 [[ 9.99535572e-01 1.86759907e-02 2.40800154e-02 3.73557333e+02] [-1.86595084e-02 9.99825483e-01 -9.09012120e-04 -1.60959311e+01] [-2.40927898e-02 4.59268699e-04 9.99709621e-01 -8.17394407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12439141799996 meters 0.016899091029892472 Centerline is valid? [True, True] Translation: X:373.62, Y:-16.10, Z:-8.17 [[ 9.99516849e-01 1.91279651e-02 2.44987533e-02 3.73620507e+02] [-1.91108391e-02 9.99816936e-01 -9.33017365e-04 -1.60999521e+01] [-2.45121152e-02 4.64374844e-04 9.99699425e-01 -8.17491443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18439141799996 meters 0.018315762604857056 Centerline is valid? [True, True] Translation: X:373.68, Y:-16.11, Z:-8.18 [[ 9.99550972e-01 1.68069088e-02 2.48068849e-02 3.73681894e+02] [-1.67884425e-02 9.99858610e-01 -9.52493623e-04 -1.61074157e+01] [-2.48193859e-02 5.35596966e-04 9.99691808e-01 -8.17595677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24439141799996 meters 0.020089401995837912 Centerline is valid? [True, True] Translation: X:373.74, Y:-16.12, Z:-8.18 [[ 9.99639038e-01 1.26677420e-02 2.36922396e-02 3.73743340e+02] [-1.26496514e-02 9.99919573e-01 -9.13287989e-04 -1.61163231e+01] [-2.37019034e-02 6.13259756e-04 9.99718882e-01 -8.17980531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30439141799997 meters 0.021253317596611282 Centerline is valid? [True, True] Translation: X:373.81, Y:-16.12, Z:-8.18 [[ 9.99675400e-01 1.10022959e-02 2.29792222e-02 3.73805702e+02] [-1.09847048e-02 9.99939269e-01 -8.91612396e-04 -1.61223399e+01] [-2.29876365e-02 6.38903006e-04 9.99735545e-01 -8.18212200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36439141799997 meters 0.022204408166999257 Centerline is valid? [True, True] Translation: X:373.87, Y:-16.13, Z:-8.18 [[ 9.99681596e-01 9.07512599e-03 2.35446098e-02 3.73867504e+02] [-9.05596736e-03 9.99958570e-01 -9.20215156e-04 -1.61283943e+01] [-2.35519855e-02 7.06702938e-04 9.99722364e-01 -8.18291349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42439141799997 meters 0.021949327145601653 Centerline is valid? [True, True] Translation: X:373.93, Y:-16.13, Z:-8.18 [[ 9.99671571e-01 8.32808704e-03 2.42362079e-02 3.73929335e+02] [-8.30739800e-03 9.99965038e-01 -9.54203130e-04 -1.61334285e+01] [-2.42433072e-02 7.52549917e-04 9.99705805e-01 -8.18309057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484391418 meters 0.023089693599051962 Centerline is valid? [True, True] Translation: X:373.99, Y:-16.14, Z:-8.18 [[ 9.99681364e-01 7.34190049e-03 2.41509216e-02 3.73991604e+02] [-7.32090418e-03 9.99972743e-01 -9.57681488e-04 -1.61393685e+01] [-2.41572945e-02 7.80569753e-04 9.99707865e-01 -8.18466013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544391418 meters 0.02488126844866782 Centerline is valid? [True, True] Translation: X:374.05, Y:-16.15, Z:-8.19 [[ 9.99728384e-01 4.56491121e-03 2.28543304e-02 3.74052931e+02] [-4.54524825e-03 9.99989254e-01 -9.12232745e-04 -1.61489440e+01] [-2.28582491e-02 8.08106362e-04 9.99738389e-01 -8.18796143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604391418 meters 0.026808663727408158 Centerline is valid? [True, True] Translation: X:374.11, Y:-16.16, Z:-8.19 [[ 9.99753368e-01 1.71473715e-03 2.21418926e-02 3.74114593e+02] [-1.69551884e-03 9.99998169e-01 -8.86705824e-04 -1.61590846e+01] [-2.21433726e-02 8.48945138e-04 9.99754445e-01 -8.19089003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664391418 meters 0.02681745634506537 Centerline is valid? [True, True] Translation: X:374.18, Y:-16.16, Z:-8.19 [[ 9.99735509e-01 1.31840773e-04 2.29976966e-02 3.74176891e+02] [-1.10641911e-04 9.99999568e-01 -9.23051930e-04 -1.61638403e+01] [-2.29978083e-02 9.20263283e-04 9.99735092e-01 -8.19111588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724391418 meters 0.02656034287649617 Centerline is valid? [True, True] Translation: X:374.24, Y:-16.17, Z:-8.19 [[ 9.99706861e-01 -1.12602810e-03 2.41852051e-02 3.74238797e+02] [ 1.15001339e-03 9.99998861e-01 -9.77848381e-04 -1.61691940e+01] [-2.41840765e-02 1.00537505e-03 9.99707017e-01 -8.19119930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7843914179999 meters 0.028006300085718975 Centerline is valid? [True, True] Translation: X:374.30, Y:-16.18, Z:-8.19 [[ 9.99691230e-01 -1.20884231e-03 2.48189935e-02 3.74299445e+02] [ 1.23429925e-03 9.99998728e-01 -1.01040986e-03 -1.61770192e+01] [-2.48177405e-02 1.04073194e-03 9.99691451e-01 -8.19324730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84439141799993 meters 0.02878681952696602 Centerline is valid? [True, True] Translation: X:374.36, Y:-16.18, Z:-8.20 [[ 9.99685822e-01 -9.07959115e-04 2.50486087e-02 3.74362168e+02] [ 9.33906401e-04 9.99999039e-01 -1.02419842e-03 -1.61838324e+01] [-2.50476547e-02 1.04726970e-03 9.99685710e-01 -8.19510828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90439141799993 meters 0.028792963343594803 Centerline is valid? [True, True] Translation: X:374.42, Y:-16.19, Z:-8.20 [[ 9.99682574e-01 -8.56174679e-05 2.51941103e-02 3.74424609e+02] [ 1.11805979e-04 9.99999455e-01 -1.03806278e-03 -1.61882656e+01] [-2.51940077e-02 1.04055012e-03 9.99682039e-01 -8.19714830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96439141799993 meters 0.027789890491573117 Centerline is valid? [True, True] Translation: X:374.49, Y:-16.19, Z:-8.20 [[ 9.99688121e-01 5.32203366e-04 2.49675266e-02 3.74487121e+02] [-5.06518085e-04 9.99999336e-01 -1.03506051e-03 -1.61931709e+01] [-2.49680609e-02 1.02209119e-03 9.99687727e-01 -8.19939791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02439141799994 meters 0.030006295702890963 Centerline is valid? [True, True] Translation: X:374.55, Y:-16.20, Z:-8.20 [[ 9.99697941e-01 9.95835521e-04 2.45567796e-02 3.74548140e+02] [-9.71059028e-04 9.99999007e-01 -1.02085139e-03 -1.62004198e+01] [-2.45577718e-02 9.96696945e-04 9.99697916e-01 -8.20147569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08439141799994 meters 0.02903697790896937 Centerline is valid? [True, True] Translation: X:374.61, Y:-16.20, Z:-8.21 [[ 9.99721534e-01 1.14987665e-03 2.35697138e-02 3.74610935e+02] [-1.12695630e-03 9.99998879e-01 -9.85708755e-04 -1.62045346e+01] [-2.35708209e-02 9.58872231e-04 9.99721710e-01 -8.20523268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14439141799994 meters 0.026623221229998304 Centerline is valid? [True, True] Translation: X:374.67, Y:-16.21, Z:-8.21 [[ 9.99722594e-01 1.84736732e-03 2.34802445e-02 3.74673174e+02] [-1.82464108e-03 9.99997846e-01 -9.89275579e-04 -1.62060742e+01] [-2.34820215e-02 9.46158129e-04 9.99723812e-01 -8.20748981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20439141799994 meters 0.02786063098359928 Centerline is valid? [True, True] Translation: X:374.74, Y:-16.21, Z:-8.21 [[ 9.99700196e-01 2.06878816e-03 2.43975210e-02 3.74735082e+02] [-2.04413872e-03 9.99997375e-01 -1.03522184e-03 -1.62128644e+01] [-2.43995986e-02 9.85039559e-04 9.99701800e-01 -8.20865765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26439141799995 meters 0.028376474700347765 Centerline is valid? [True, True] Translation: X:374.80, Y:-16.22, Z:-8.21 [[ 9.99703290e-01 2.59324648e-03 2.42199839e-02 3.74797229e+02] [-2.56893299e-03 9.99996165e-01 -1.03492111e-03 -1.62174047e+01] [-2.42225748e-02 9.72394522e-04 9.99706117e-01 -8.21072104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32439141799995 meters 0.028586781535940978 Centerline is valid? [True, True] Translation: X:374.86, Y:-16.22, Z:-8.21 [[ 9.99710431e-01 3.16283082e-03 2.38547896e-02 3.74859071e+02] [-3.13925227e-03 9.99994546e-01 -1.02580357e-03 -1.62216875e+01] [-2.38579040e-02 9.50620324e-04 9.99714908e-01 -8.21314756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38439141799995 meters 0.026586858327549423 Centerline is valid? [True, True] Translation: X:374.92, Y:-16.22, Z:-8.21 [[ 9.99688772e-01 5.88366278e-03 2.42434044e-02 3.74920140e+02] [-5.85995745e-03 9.99982280e-01 -1.04873331e-03 -1.62222436e+01] [-2.42491452e-02 9.06341601e-04 9.99705535e-01 -8.21394582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44439141799995 meters 0.02328966688846258 Centerline is valid? [True, True] Translation: X:374.98, Y:-16.22, Z:-8.21 [[ 9.99669094e-01 1.03384808e-02 2.35545788e-02 3.74981980e+02] [-1.03173154e-02 9.99946255e-01 -1.01992103e-03 -1.62186801e+01] [-2.35638572e-02 7.76563518e-04 9.99722032e-01 -8.21469020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50439141799995 meters 0.023350490206283745 Centerline is valid? [True, True] Translation: X:375.04, Y:-16.22, Z:-8.22 [[ 9.99645347e-01 1.23160827e-02 2.36113219e-02 3.75043730e+02] [-1.22953098e-02 9.99923885e-01 -1.02476330e-03 -1.62207437e+01] [-2.36221457e-02 7.34091343e-04 9.99720689e-01 -8.21588558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56439141799996 meters 0.021179381886452773 Centerline is valid? [True, True] Translation: X:375.11, Y:-16.22, Z:-8.22 [[ 9.99594530e-01 1.59890794e-02 2.35611026e-02 3.75105849e+02] [-1.59692598e-02 9.99871954e-01 -1.02912530e-03 -1.62187460e+01] [-2.35745404e-02 6.52454657e-04 9.99721869e-01 -8.21671600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62439141799996 meters 0.018927634212889555 Centerline is valid? [True, True] Translation: X:375.17, Y:-16.22, Z:-8.22 [[ 9.99486153e-01 2.24016298e-02 2.29259028e-02 3.75167739e+02] [-2.23844101e-02 9.99748930e-01 -1.00748316e-03 -1.62155437e+01] [-2.29427160e-02 4.93782657e-04 9.99736659e-01 -8.21800307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68439141799996 meters 0.01650699335243587 Centerline is valid? [True, True] Translation: X:375.23, Y:-16.21, Z:-8.22 [[ 9.99341037e-01 2.90543990e-02 2.17562325e-02 3.75229529e+02] [-2.90404405e-02 9.99577779e-01 -9.57322994e-04 -1.62111724e+01] [-2.17748610e-02 3.24881577e-04 9.99762847e-01 -8.22024501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74439141799996 meters 0.014530041699848329 Centerline is valid? [True, True] Translation: X:375.29, Y:-16.21, Z:-8.22 [[ 9.99123649e-01 3.60657452e-02 2.12413825e-02 3.75289966e+02] [-3.60540050e-02 9.99349405e-01 -9.35531809e-04 -1.62056710e+01] [-2.12613036e-02 1.68875043e-04 9.99773939e-01 -8.22218775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80439141799997 meters 0.013651955361689156 Centerline is valid? [True, True] Translation: X:375.35, Y:-16.20, Z:-8.22 [[ 9.98885103e-01 4.21383564e-02 2.12816959e-02 3.75347611e+02] [-4.21279570e-02 9.99111784e-01 -9.36941722e-04 -1.62022783e+01] [-2.13022743e-02 3.93427592e-05 9.99773080e-01 -8.22341213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86439141799997 meters 0.014208940574070262 Centerline is valid? [True, True] Translation: X:375.41, Y:-16.20, Z:-8.22 [[ 9.98483949e-01 5.01688968e-02 2.26469831e-02 3.75407094e+02] [-5.01592377e-02 9.98740738e-01 -9.94714145e-04 -1.61958619e+01] [-2.26683683e-02 -1.42749302e-04 9.99743029e-01 -8.22392045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92439141799997 meters 0.015157891301298297 Centerline is valid? [True, True] Translation: X:375.47, Y:-16.19, Z:-8.23 [[ 9.98116985e-01 5.67444122e-02 2.32928437e-02 3.75465484e+02] [-5.67360288e-02 9.98388692e-01 -1.02115016e-03 -1.61933980e+01] [-2.33132563e-02 -3.02316127e-04 9.99728163e-01 -8.22514858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984391418 meters 0.01647805391828815 Centerline is valid? [True, True] Translation: X:375.52, Y:-16.19, Z:-8.23 [[ 9.97850844e-01 6.13274446e-02 2.30789488e-02 3.75524476e+02] [-6.13205158e-02 9.98117617e-01 -1.00847116e-03 -1.61932409e+01] [-2.30973524e-02 -4.08909249e-04 9.99733137e-01 -8.22743278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044391418 meters 0.01735006139064741 Centerline is valid? [True, True] Translation: X:375.58, Y:-16.19, Z:-8.23 [[ 9.97768921e-01 6.25646787e-02 2.32989533e-02 3.75582053e+02] [-6.25580009e-02 9.98040813e-01 -1.01608781e-03 -1.61934659e+01] [-2.33168775e-02 -4.43715098e-04 9.99728026e-01 -8.22847071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104391418 meters 0.017963113506000262 Centerline is valid? [True, True] Translation: X:375.64, Y:-16.19, Z:-8.23 [[ 9.97685606e-01 6.38733547e-02 2.33157749e-02 3.75640777e+02] [-6.38671032e-02 9.97957898e-01 -1.01344236e-03 -1.61946966e+01] [-2.33328937e-02 -4.78014148e-04 9.99727637e-01 -8.22978899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164391418 meters 0.017589915221884283 Centerline is valid? [True, True] Translation: X:375.70, Y:-16.20, Z:-8.23 [[ 9.97713519e-01 6.35667033e-02 2.29566623e-02 3.75699087e+02] [-6.35606020e-02 9.97977484e-01 -9.96079504e-04 -1.61983014e+01] [-2.29735495e-02 -4.65337289e-04 9.99735965e-01 -8.23227584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224391418 meters 0.01712387164687593 Centerline is valid? [True, True] Translation: X:375.76, Y:-16.20, Z:-8.23 [[ 9.97827328e-01 6.17902635e-02 2.28601621e-02 3.75756633e+02] [-6.17837892e-02 9.98089066e-01 -9.90065595e-04 -1.62006784e+01] [-2.28776543e-02 -4.24472932e-04 9.99738182e-01 -8.23435055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2843914179999 meters 0.016312214794322922 Centerline is valid? [True, True] Translation: X:375.81, Y:-16.20, Z:-8.23 [[ 9.97961191e-01 5.88766157e-02 2.46374910e-02 3.75814018e+02] [-5.88682714e-02 9.98265192e-01 -1.06447012e-03 -1.62030529e+01] [-2.46574221e-02 -3.88066640e-04 9.99695884e-01 -8.23390971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34439141799993 meters 0.014580498854397933 Centerline is valid? [True, True] Translation: X:375.87, Y:-16.21, Z:-8.24 [[ 9.98183924e-01 5.41643403e-02 2.63643478e-02 3.75872661e+02] [-5.41532102e-02 9.98531992e-01 -1.13648854e-03 -1.62096394e+01] [-2.63872018e-02 -2.93289473e-04 9.99651754e-01 -8.23536540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40439141799993 meters 0.013908829009941077 Centerline is valid? [True, True] Translation: X:375.93, Y:-16.21, Z:-8.24 [[ 9.98422026e-01 4.96813498e-02 2.61767238e-02 3.75930854e+02] [-4.96688900e-02 9.98765104e-01 -1.12636977e-03 -1.62145832e+01] [-2.62003579e-02 -1.75576429e-04 9.99656696e-01 -8.23781044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46439141799993 meters 0.013509834322578181 Centerline is valid? [True, True] Translation: X:375.99, Y:-16.22, Z:-8.24 [[ 9.98699966e-01 4.40199300e-02 2.57026111e-02 3.75989845e+02] [-4.40060941e-02 9.99030653e-01 -1.10396173e-03 -1.62193661e+01] [-2.57262927e-02 -2.85449852e-05 9.99669024e-01 -8.24036192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52439141799994 meters 0.01362945193914876 Centerline is valid? [True, True] Translation: X:376.05, Y:-16.22, Z:-8.24 [[ 9.98745204e-01 4.23705570e-02 2.66974469e-02 3.76048808e+02] [-4.23550983e-02 9.99101965e-01 -1.14450654e-03 -1.62212931e+01] [-2.67219650e-02 1.22974299e-05 9.99642904e-01 -8.24274987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58439141799994 meters 0.013551177371564062 Centerline is valid? [True, True] Translation: X:376.11, Y:-16.22, Z:-8.24 [[ 9.98656548e-01 4.38600921e-02 2.75933281e-02 3.76107542e+02] [-4.38442095e-02 9.99037683e-01 -1.18064218e-03 -1.62198961e+01] [-2.76185576e-02 -3.07516149e-05 9.99618534e-01 -8.24375476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64439141799994 meters 0.014010522534816838 Centerline is valid? [True, True] Translation: X:376.17, Y:-16.21, Z:-8.25 [[ 9.98433626e-01 4.88362045e-02 2.73005466e-02 3.76166769e+02] [-4.88225751e-02 9.98806786e-01 -1.16597376e-03 -1.62128838e+01] [-2.73249130e-02 -1.68735577e-04 9.99626591e-01 -8.24590158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70439141799994 meters 0.016036698231620204 Centerline is valid? [True, True] Translation: X:376.22, Y:-16.20, Z:-8.25 [[ 9.98092293e-01 5.58992413e-02 2.62116289e-02 3.76224807e+02] [-5.58891657e-02 9.98436354e-01 -1.11741227e-03 -1.62030592e+01] [-2.62331057e-02 -3.49665494e-04 9.99655792e-01 -8.24946634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76439141799995 meters 0.016998256918843796 Centerline is valid? [True, True] Translation: X:376.28, Y:-16.20, Z:-8.25 [[ 9.97948632e-01 5.79736389e-02 2.71585127e-02 3.76283202e+02] [-5.79636686e-02 9.98318025e-01 -1.15488415e-03 -1.62023344e+01] [-2.71797856e-02 -4.21691975e-04 9.99630472e-01 -8.25101037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82439141799995 meters 0.016561543907775655 Centerline is valid? [True, True] Translation: X:376.34, Y:-16.21, Z:-8.25 [[ 9.97953112e-01 5.73319092e-02 2.83308873e-02 3.76341107e+02] [-5.73209111e-02 9.98355083e-01 -1.20085835e-03 -1.62051857e+01] [-2.83531328e-02 -4.25551948e-04 9.99597879e-01 -8.25130176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88439141799995 meters 0.015871427907857446 Centerline is valid? [True, True] Translation: X:376.40, Y:-16.21, Z:-8.25 [[ 9.98010045e-01 5.68579494e-02 2.72602815e-02 3.76399793e+02] [-5.68476685e-02 9.98382198e-01 -1.15260351e-03 -1.62088076e+01] [-2.72817145e-02 -3.99373570e-04 9.99627705e-01 -8.25378584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94439141799995 meters 0.01660272586506293 Centerline is valid? [True, True] Translation: X:376.46, Y:-16.21, Z:-8.26 [[ 9.97934162e-01 5.86024930e-02 2.63278494e-02 3.76458516e+02] [-5.85935638e-02 9.98281303e-01 -1.11114611e-03 -1.62104944e+01] [-2.63477157e-02 -4.33791859e-04 9.99652745e-01 -8.25723000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00439141799995 meters 0.01956487308522916 Centerline is valid? [True, True] Translation: X:376.52, Y:-16.21, Z:-8.26 [[ 9.97306764e-01 6.84715225e-02 2.62843966e-02 3.76519177e+02] [-6.84660915e-02 9.97652829e-01 -1.10757649e-03 -1.62081803e+01] [-2.62985401e-02 -6.94996373e-04 9.99653892e-01 -8.25969006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06439141799996 meters 0.024508701230759718 Centerline is valid? [True, True] Translation: X:376.58, Y:-16.20, Z:-8.26 [[ 9.96230216e-01 8.16864291e-02 2.92007680e-02 3.76579500e+02] [-8.16853940e-02 9.96657405e-01 -1.23033479e-03 -1.62024574e+01] [-2.92036633e-02 -1.15957954e-03 9.99572809e-01 -8.25799044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12439141799996 meters 0.02658324197303677 Centerline is valid? [True, True] Translation: X:376.64, Y:-16.20, Z:-8.26 [[ 9.95575020e-01 8.90859062e-02 2.99012006e-02 3.76639925e+02] [-8.90881626e-02 9.96022948e-01 -1.25940708e-03 -1.62024838e+01] [-2.98944774e-02 -1.41000879e-03 9.99552066e-01 -8.25911025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18439141799996 meters 0.030566055253155793 Centerline is valid? [True, True] Translation: X:376.70, Y:-16.20, Z:-8.26 [[ 9.94976183e-01 9.60737304e-02 2.81466610e-02 3.76698956e+02] [-9.60785071e-02 9.95373053e-01 -1.18579231e-03 -1.62007483e+01] [-2.81303514e-02 -1.52445406e-03 9.99603101e-01 -8.26298239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2606.75 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! The alignment track is not used for filteration! 0%| | 0/12608 [00:00